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Data-Driven Dynamic Internal Model Control
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DOI：10.1109/TCYB.2024.3387409.png)
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摘要
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A data-driven dynamic internal model control((DIMC)-I-3) scheme is proposed for unknown nonlinear non affine systems bypassing modeling steps. Different from the traditional internal model constructed by either a first-principle or an identified model, a dynamic internal model (DIM) is developed in this work using I/O data where a compact form dynamic linearization approach is introduced for addressing the nonlinearity and nonaffine structure. Then, the (DIMC)-I-3 is proposed with both a nominal control algorithm and an uncertainty compensation control algorithm. The former can quickly respond to the feedback errors and the latter can compensate the model-plant mismatch and external disturbances. Meanwhile, the adaptive parameter updating law in the proposed (DIMC)-I-3 method inherits the robustness against uncertainties. A nominal (DIMC)-I-3 is also designed without including the compensator when there is no exogenous disturbance since the adaptive mechanism can handle system uncertainty. Further, the results are extended and a full-form dynamic linearization-based (DIMC)-I-3 is developed to address control of nonlinear systems with more complex dynamics. All the proposed (DIMC)-I-3 methods are data-driven without need of an explicit model, and thus they are significant extensions from the traditional model-based IMC. Simulation study verifies the results.
Keyword:
Data-driven method
dynamic linearization
internal model control (IMC)
nonlinear nonaffine systems
期刊
IF:
10.5
论文数:
1.1W
被引数:
5.0W
机构
引用论文
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Design of Cooperative Output Regulators for Heterogeneous Uncertain Nonlinear Multiagent Systems
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