We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy output data along with a set of basis functions that approximate the unknown nonlinearities. Despite the noisy output data as well as the mismatch caused by the use of basis functions, we show that the proposed multistep robust data-driven nonlinear predictive control scheme is recursively feasible and renders the closed-loop system practically exponentially stable. We illustrate our results on a model of a fully-actuated double inverted pendulum.
@article{arxiv.2211.06339,
title = {Data-driven Nonlinear Predictive Control for Feedback Linearizable Systems},
author = {Mohammad Alsalti and Victor G. Lopez and Julian Berberich and Frank Allgöwer and Matthias A. Müller},
journal= {arXiv preprint arXiv:2211.06339},
year = {2023}
}
Comments
accepted to IFAC World Congress 2023. arXiv admin note: substantial text overlap with arXiv:2204.01148