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Data-driven control for feedback linearizable single-input systems

Tabuada, Paulo and Ma, Wen-Loong and Grizzle, Jessy and Ames, Aaron D. (2017) Data-driven control for feedback linearizable single-input systems. In: 2017 IEEE 56th Annual Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 6265-6270. ISBN 978-1-5090-2874-0. https://resolver.caltech.edu/CaltechAUTHORS:20180126-083355117

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Abstract

More than a decade ago Fliess and co-workers [1], [2], [3] proposed model-free control as a possible answer to the inherent difficulties in controlling non-linear systems. Their key insight was that by using a sufficiently high sampling rate we can use a simple linear model for control purposes thereby trivializing controller design. In this paper, we provide a variation of model-free control for which it is possible to formally prove the existence of a sufficiently high sampling rate ensuring that controllers solving output regulation and tracking problems for the approximate linear model also solve the same problems for the true and unknown nonlinear model. This is verified experimentally on the bipedal robot AMBER-3M.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/CDC.2017.8264603DOIArticle
http://ieeexplore.ieee.org/document/8264603/PublisherArticle
ORCID:
AuthorORCID
Tabuada, Paulo0000-0002-3417-0951
Ma, Wen-Loong0000-0002-0115-5632
Grizzle, Jessy0000-0001-7586-0142
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2017 IEEE. Date Added to IEEE Xplore: 23 January 2018. This work was partially supported by the NSF awards 1239085 and 1645824.
Funders:
Funding AgencyGrant Number
NSFCNS-1239085
NSFCCF-1645824
Record Number:CaltechAUTHORS:20180126-083355117
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20180126-083355117
Official Citation:P. Tabuada, W. L. Ma, J. Grizzle and A. D. Ames, "Data-driven control for feedback linearizable single-input systems," 2017 IEEE 56th Annual Conference on Decision and Control (CDC), Melbourne, Australia, 2017, pp. 6265-6270. doi: 10.1109/CDC.2017.8264603
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:84536
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:31 Jan 2018 00:37
Last Modified:15 Nov 2019 18:24

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