论文标题
基于数据的反馈可线化系统的控制
Data-based Control of Feedback Linearizable Systems
论文作者
论文摘要
我们将Willems的基本引理扩展到多输入多输出离散时间反馈可线化的非线性系统的类别，从而提供了其输入输出轨迹的基于数据的表示。考虑了两种不确定性来源。首先，未知的线性化输入是通过一组基础函数不可天性地近似的。其次，测得的输出数据被加性噪声污染。此外，我们提出了一种近似于基于数据的模拟和输出匹配问题解决方案的方法，并表明来自真实解决方案的差异是有界的。最后，结果在一个完整的双反转摆的示例中进行了说明。
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. Further, 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.
