학술논문
Data-Based Control of Feedback Linearizable Systems
Document Type
Periodical
Author
Source
IEEE Transactions on Automatic Control IEEE Trans. Automat. Contr. Automatic Control, IEEE Transactions on. 68(11):7014-7021 Nov, 2023
Subject
Language
ISSN
0018-9286
1558-2523
2334-3303
1558-2523
2334-3303
Abstract
In this article, 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. Furthermore, 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.