Feedback linearisation of mechanical systems using data-driven models
Abstract
Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear system into an equivalent linear one. The main problem with feedback linearisation is that it requires an accurate first-principles model of the system, which are typically hard to obtain. In this paper, we design an alternative control approach that exploits data-driven models to linearise the input-output response of nonlinear mechanical systems. Specifically, a model-based reference tracking architecture is developed for nonlinear feedback systems with output nonlinearities. The overall methodology shows a high degree of performance combined with significant robustness against imperfect modelling and extrapolation. These findings are demonstrated using large set of synthetic experiments conducted on a asymmetric Duffing oscillator and using an experimental prototype of a high-precision motion system.
Cite
@article{arxiv.2201.04550,
title = {Feedback linearisation of mechanical systems using data-driven models},
author = {Merijn Floren and Koen Classens and Tom Oomen and Jean-Philippe Noël},
journal= {arXiv preprint arXiv:2201.04550},
year = {2025}
}