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Feedback linearisation of mechanical systems using data-driven models
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DOI：10.1016/j.jsv.2024.118335.png)
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摘要
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Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear system into an equivalent linear one. The main problem with feedback linearisation is that it requires an accurate first -principles model of the system, which are typically hard to obtain. In this paper, we design an alternative control approach that exploits data -driven models to linearise the input-output response of nonlinear mechanical systems. Specifically, a model -based reference tracking architecture is developed for nonlinear feedback systems with output nonlinearities. The overall methodology shows a high degree of performance combined with significant robustness against imperfect modelling and extrapolation. These findings are demonstrated using large set of synthetic experiments conducted on a asymmetric Duffing oscillator and using an experimental prototype of a high -precision motion system.
Keyword:
Feedback linearisation
Nonlinear mechanical systems
Nonlinearity
Data-driven modelling
期刊
IF:
4.9
论文数:
1.7W
被引数:
4.8W
机构
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