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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2302.04042 |
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Table of Contents:
- An indirect data-driven control and transfer learning approach based on a data-driven feedback linearization with neural canonical control structures is proposed. An artificial neural network auto-encoder structure trained on recorded sensor data is used to approximate state and input transformations for the identification of the sampled-data system in Brunovsky canonical form. The identified transformations, together with a designed trajectory controller, can be transferred to a system with varied parameters, where the neural network weights are adapted using newly collected recordings. The proposed approach is demonstrated using an academic and an industrially motivated example.