On-line direct control design for nonlinear systems

Marko Tanaskovic; Lorenzo Fagiano; Carlo Novara; Manfred Morari

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On-line direct control design for nonlinear systems

机译：非线性系统的在线直接控制设计

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摘要

An approach to design a feedback controller for nonlinear systems directly from experimental data is presented. Improving over a recently proposed technique, which employs exclusively a batch of experimental data collected in a preliminary experiment, here the control law is updated and refined during real-time operation, hence enabling an on-line learning capability. The theoretical properties of the described approach, in particular closed-loop stability and tracking accuracy, are discussed. Finally, the experimental results obtained with a water tank laboratory setup are presented.

机译：提出了一种直接根据实验数据设计非线性系统反馈控制器的方法。对最近提出的技术进行了改进，该技术仅使用在初步实验中收集的一批实验数据，此处在实时操作过程中对控制律进行了更新和完善，从而实现了在线学习能力。讨论了所描述方法的理论特性，尤其是闭环稳定性和跟踪精度。最后，介绍了使用水箱实验室设置获得的实验结果。

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来源
《IFAC PapersOnLine》 |2015年第28期|共6页
作者
Marko Tanaskovic; Lorenzo Fagiano; Carlo Novara; Manfred Morari;
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中图分类自动化技术、计算机技术;
关键词
Data-driven controlnonlinear systemsdirect controldynamic inversionstability;

机译：数据驱动控制非线性系统直接控制动态反演稳定性;

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4. On-line direct control design for nonlinear systems [C] . Marko Tanaskovic, Lorenzo Fagiano, Carlo Novara, IFAC Symposium on System Identification . 2016

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5. On-line modeling and inverse optimal control of a class of unknown nonlinear systems using dynamic neural networks. [D] . Farid, Farshad. 2006

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7. On-line direct control design for nonlinear systems [O] . Tanaskovic, Marko, Fagiano, Lorenzo, Novara, Carlo, 2015

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On-line direct control design for nonlinear systems

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