Randomized iterative feedback tuning for fast MIMO feedback design of a mechatronic system

被引：0

作者：

Aarnoudse, Leontine ^{[1
]}

den Toom, Peter ^{[1
]}

Oomen, Tom ^{[1
,2
]}

机构：

[1] Eindhoven Univ Technol, Dept Mech Engn Control Syst Technol, Eindhoven, Netherlands

[2] Delft Univ Technol, Delft Ctr Syst & Control, Delft, Netherlands

来源：

CONTROL ENGINEERING PRACTICE | 2024年 / 154卷

关键词：

Iterative feedback tuning; MIMO systems; Gradient estimation; Data-driven control; CONTROLLERS;

D O I：

10.1016/j.conengprac.2024.106152

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Iterative feedback tuning (IFT) enables the tuning of feedback controllers using only measured data to obtain the gradient of a cost criterion. The aim of this paper is to reduce the required number of experiments for MIMO IFT. It is shown that, through a randomization technique, an unbiased gradient estimate can be obtained from a single dedicated experiment, regardless of the size of the MIMO system. The gradient estimate is used in a stochastic gradient descent algorithm. The approach is experimentally validated on a mechatronic system, showing a significantly reduced number of experiments compared to standard IFT.

引用

页数：10

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