Data-driven feedforward control design for nonlinear systems: A control-oriented system identification approach
Fuente:
arXiv
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2023
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866929220607803392 |
|---|---|
| author | Bolderman, Max Lazar, Mircea Butler, Hans |
| author_facet | Bolderman, Max Lazar, Mircea Butler, Hans |
| contents | Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking error is only analyzed a posteriori in experiments. Therefore, in this work, we develop an approach to feedforward control design that aims at minimizing the tracking error a priori. To achieve this, we present a model of the system in a lifted space of trajectories, based on which we derive an upperbound on the reference tracking performance. Minimization of this bound yields a feedforward control-oriented system identification cost function, and a finite-horizon optimization to compute the feedforward control signal. The nonlinear feedforward control design method is validated using physics-guided neural networks on a nonlinear, nonminimum phase mechatronic example, where it outperforms linear ILC. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2303_11197 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Data-driven feedforward control design for nonlinear systems: A control-oriented system identification approach Bolderman, Max Lazar, Mircea Butler, Hans Systems and Control Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking error is only analyzed a posteriori in experiments. Therefore, in this work, we develop an approach to feedforward control design that aims at minimizing the tracking error a priori. To achieve this, we present a model of the system in a lifted space of trajectories, based on which we derive an upperbound on the reference tracking performance. Minimization of this bound yields a feedforward control-oriented system identification cost function, and a finite-horizon optimization to compute the feedforward control signal. The nonlinear feedforward control design method is validated using physics-guided neural networks on a nonlinear, nonminimum phase mechatronic example, where it outperforms linear ILC. |
| title | Data-driven feedforward control design for nonlinear systems: A control-oriented system identification approach |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2303.11197 |