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An adaptive direct data-driven controller for nonlinear system reference tracking
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DOI：10.1016/j.isatra.2025.05.043.png)
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Abstract
En 中文
• A key challenge in the online adaptation of direct data-driven methods is maintaining the persistence of excitation during online data updates. • Online system trajectories appropriate for direct data-driven prediction are linearized and stored for future use. • Based on the current system trajectory and the future reference trajectory, a suitable stored trajectory is selected for Hankel matrix construction. • The incorrect choice of trajectory in the application to nonlinear system control can vastly deteriorate the control quality. • The proposed controller ensures generality, stability, safety, and adaptability in a model-free direct data-driven manner.
Keywords:
Adaptive control
Direct data-driven control
Dynamic positioning
Nonlinear systems
Unmanned surface vehicle (USV)
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