论文标题
线性系统的数据驱动逆和对干扰观察者的应用
Data-Driven Inverse of Linear Systems and Application to Disturbance Observers
论文作者
论文摘要
这项工作开发了基于数据的LTI系统逆动力构建。具体而言，此处解决的问题是根据预取的输入和输出数据从相应的输出序列中找到一个输入序列。该问题可以被视为最近使用行为方法的逆转，其中通过求解由预采用的数据形成的方程来获得给定输入序列的输出序列。研究问题的条件进行了研究，并结果证明是植物的l-delay可逆性，以及对数据输入的一定程度的持续激发。结果应用于形成数据驱动的干扰观察者。数据驱动的干扰观察者增强的植物动力学表现出扰动排斥，而没有植物的模型知识。
This work develops a data-based construction of inverse dynamics for LTI systems. Specifically, the problem addressed here is to find an input sequence from the corresponding output sequence based on pre-collected input and output data. The problem can be considered as a reverse of the recent use of behavioral approach, in which the output sequence is obtained for a given input sequence by solving an equation formed by pre-collected data. The condition under which the problem gives a solution is investigated and turns out to be L-delay invertibility of the plant and a certain degree of persistent excitation of the data input. The result is applied to form a data-driven disturbance observer. The plant dynamics augmented by the data-driven disturbance observer exhibits disturbance rejection without the model knowledge of the plant.
