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Data-Based Control of Feedback Linearizable Systems
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DOI：10.1109/TAC.2023.3249289.png)
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Abstract
En 中文
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.
Keywords:
Data-driven control
feedback linearization
non-linear systems
Journal
IF:
7
Papers:
1.3W
Citations:
6.7W