Data-Based Control of Feedback Linearizable Systems

被引:16
作者
Alsalti, Mohammad [1 ]
Lopez, Victor G. [1 ]
Berberich, Julian [2 ]
Allgoewer, Frank [2 ]
Mueller, Matthias A. [1 ]
机构
[1] Leibniz Univ Hannover, Inst Automat Control, D-30167 Hannover, Germany
[2] Univ Stuttgart, Inst Syst Theory & Automat Control, D-70550 Stuttgart, Germany
基金
欧洲研究理事会;
关键词
Data-driven control; feedback linearization; non-linear systems;
D O I
10.1109/TAC.2023.3249289
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this article, we present an extension of Willems' Fundamental Lemma to the class of multi-input-multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based representation of their input-output trajectories. Two sources of uncertainty are considered. First, the unknown linearizing input is inexactly approximated by a set of basis functions. Second, the measured output data is contaminated by additive noise. Furthermore, we propose an approach to approximate the solution of the data-based simulation and output matching problems, and show that the difference from the true solution is bounded. Finally, the results are illustrated on an example of a fully actuated double inverted pendulum.
引用
收藏
页码:7014 / 7021
页数:8
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