Data-Based Control of Feedback Linearizable Systems

• 成果类型: Article
• 署名作者: Alsalti, Mohammad; Lopez, Victor G.; Berberich, Julian; Allgoewer, Frank; Mueller, Matthias A.
• 署名单位: Leibniz University Hannover; University of Stuttgart
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3249289
• 发表日期: 2023
• 页码: 7014-7021
• 关键词: data-driven control; Feedback linearization; non-linear systems

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.