文章基本信息

标题：On-line direct control design for nonlinear systems
本地全文：下载
作者：Marko Tanaskovic ; Lorenzo Fagiano ; Carlo Novara 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：28
页码：144-149
DOI：10.1016/j.ifacol.2015.12.115
语种：English
出版社：Elsevier
摘要：AbstractAn approach to design a feedback controller for nonlinear systems directly from experimental data is presented. Improving over a recently proposed technique, which employs exclusively a batch of experimental data collected in a preliminary experiment, here the control law is updated and refined during real-time operation, hence enabling an on-line learning capability. The theoretical properties of the described approach, in particular closed-loop stability and tracking accuracy, are discussed. Finally, the experimental results obtained with a water tank laboratory setup are presented.
关键词：KeywordsData-driven controlnonlinear systemsdirect controldynamic inversionstability