Multi-Parametric Extremum Seeking-based Auto-Tuning for Robust Input-Output Linearization Control
Systems and Control
2016-11-15 v1
Abstract
We study in this paper the problem of iterative feedback gains tuning for a class of nonlinear systems. We consider Input-Output linearizable nonlinear systems with additive uncertainties. We first design a nominal Input-Output linearization-based controller that ensures global uniform boundedness of the output tracking error dynamics. Then, we complement the robust controller with a model-free multi-parametric extremum seeking (MES) control to iteratively auto-tune the feedback gains. We analyze the stability of the whole controller, i.e. robust nonlinear controller plus model-free learning algorithm. We use numerical tests to demonstrate the performance of this method on a mechatronics example.
Cite
@article{arxiv.1409.2124,
title = {Multi-Parametric Extremum Seeking-based Auto-Tuning for Robust Input-Output Linearization Control},
author = {Mouhacine Benosman},
journal= {arXiv preprint arXiv:1409.2124},
year = {2016}
}
Comments
To appear at the IEEE CDC 2015