Dissipative iFIR filters for data-driven design
Systems and Control
2025-04-10 v2 Robotics
Systems and Control
Optimization and Control
Abstract
We tackle the problem of providing closed-loop stability guarantees with a scalable data-driven design. We combine virtual reference feedback tuning with dissipativity constraints on the controller for closed-loop stability. The constraints are formulated as a set of linear inequalities in the frequency domain. This leads to a convex problem that is scalable with respect to the length of the data and the complexity of the controller. An extension of virtual reference feedback tuning to include disturbance dynamics is also discussed. The proposed data-driven control design is illustrated by a soft gripper impedance control example.
Cite
@article{arxiv.2412.00211,
title = {Dissipative iFIR filters for data-driven design},
author = {Zixing Wang and Yi Zhang and Fulvio Forni},
journal= {arXiv preprint arXiv:2412.00211},
year = {2025}
}
Comments
8 pages, 10 figures, Accepted by 23rd European Control Conference (ECC2025). Final submission version