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Published December 2017 | public
Book Section - Chapter

Data-driven control for feedback linearizable single-input systems

Abstract

More than a decade ago Fliess and co-workers [1], [2], [3] proposed model-free control as a possible answer to the inherent difficulties in controlling non-linear systems. Their key insight was that by using a sufficiently high sampling rate we can use a simple linear model for control purposes thereby trivializing controller design. In this paper, we provide a variation of model-free control for which it is possible to formally prove the existence of a sufficiently high sampling rate ensuring that controllers solving output regulation and tracking problems for the approximate linear model also solve the same problems for the true and unknown nonlinear model. This is verified experimentally on the bipedal robot AMBER-3M.

Additional Information

© 2017 IEEE. Date Added to IEEE Xplore: 23 January 2018. This work was partially supported by the NSF awards 1239085 and 1645824.

Additional details

Created:
August 19, 2023
Modified:
October 18, 2023