Details
| Originalsprache | Englisch |
|---|---|
| Seiten (von - bis) | 7014-7021 |
| Seitenumfang | 8 |
| Fachzeitschrift | IEEE Transactions on Automatic Control |
| Jahrgang | 68 |
| Ausgabenummer | 11 |
| Frühes Online-Datum | 27 Feb. 2023 |
| Publikationsstatus | Veröffentlicht - Nov. 2023 |
Abstract
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Angewandte Informatik
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in: IEEE Transactions on Automatic Control, Jahrgang 68, Nr. 11, 11.2023, S. 7014-7021.
Publikation: Beitrag in Fachzeitschrift › Artikel › Forschung › Peer-Review
}
TY - JOUR
T1 - Data-Based Control of Feedback Linearizable Systems
AU - Alsalti, Mohammad Salahaldeen Ahmad
AU - Lopez Mejia, Victor Gabriel
AU - Berberich, Julian
AU - Allgöwer, Frank
AU - Müller, Matthias A.
PY - 2023/11
Y1 - 2023/11
N2 - 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. Further, 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.
AB - 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. Further, 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.
KW - Approximation error
KW - Data models
KW - Mathematical models
KW - Noise measurement
KW - Nonlinear systems
KW - Standards
KW - Trajectory
KW - nonlinear systems
KW - feedback linearization
KW - Data-driven control
UR - http://www.scopus.com/inward/record.url?scp=85149390738&partnerID=8YFLogxK
U2 - 10.1109/TAC.2023.3249289
DO - 10.1109/TAC.2023.3249289
M3 - Article
VL - 68
SP - 7014
EP - 7021
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
SN - 0018-9286
IS - 11
ER -