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Data-based control trajectory planning for nonlinear systems

Author(s):

C. Rhodes, M. Morari, L.S. Tsimring, N.F. Rulkov
Conference/Journal:

vol. AUT99-13
Abstract:

An open-loop trajectory planning algorithm is presented for computing an input sequence which drives an input-output system such that a reference trajectory is tracked. The algorithm utilizes only input-output data from the system to determine the proper control sequence and does not require a mathematical or identified description of the system dynamics. From the input-output data, the controlled input trajectory is calculated in a ``one-step ahead'' fashion using local modeling. Since the algorithm is calculated in this fashion, the output trajectories to be tracked can be nonperiodic. The algorithm is applied to a driven Lorenz system and an experimental electrical circuit and the results are analyzed. Issues of stability associated with the implementation of this open loop scheme are also examined using an analytic example of a driven Henon map, problems associated with inverse controllers are illustrated, and solutions to these problems are proposed.

Year:

1999
Type of Publication:

(04)Technical Report
Supervisor:



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% Autogenerated BibTeX entry
@TechReport { RhoEtal:1999:IFA_1437,
    author={C. Rhodes and M. Morari and L.S. Tsimring and N.F. Rulkov},
    title={{Data-based control trajectory planning for nonlinear
	  systems}},
    institution={},
    year={1999},
    number={},
    address={},
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=1437}
}
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