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Data-driven control of nonlinear systems: an on-line direct approach

Author(s):

M. Tanaskovic, L. Fagiano, Carlo Novara, M. Morari
Conference/Journal:

Automatica, vol. Provisionally accepted, [OC:03416]
Abstract:

A data-driven method to design reference tracking controllers for nonlinear systems is presented. The technique does not derive explicitly a model of the system, rather it delivers directly the feedback controller by combining an on-line and and off-line scheme. Like in other on-line algorithms, the measurements collected in closed-loop operation are exploited to modify the controller in order to improve the tracking performance over time. At the same time, a predictable closed-loop behavior is guaranteed by making use of a batch of available data, which is a characteristic of off-line algorithms. The feedback controller is parameterized with kernel functions and the design approach exploits results in set membership identification and learning by projections. The main theoretical properties of the approach are derived and the design algorithm is demonstrated experimentally on a water tank system.

Year:

2016
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@Article { TanEtal:2016:IFA_5293,
    author={M. Tanaskovic and L. Fagiano and Carlo Novara and M. Morari},
    title={{Data-driven control of nonlinear systems: an on-line direct
	  approach}},
    journal={Automatica},
    year={2016},
    volume={Provisionally accepted},
    number={},
    pages={},
    month=mar,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=5293}
}
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