Data-based Control of Feedback Linearizable Systems
Optimization and Control
2023-03-17 v4 Systems and Control
Systems and Control
Abstract
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.
Cite
@article{arxiv.2204.01148,
title = {Data-based Control of Feedback Linearizable Systems},
author = {Mohammad Alsalti and Victor G. Lopez and Julian Berberich and Frank Allgöwer and Matthias A. Müller},
journal= {arXiv preprint arXiv:2204.01148},
year = {2023}
}