Data-Driven Control for a Class of Non-Linear MIMO Systems

Publikationstyp
Conference Paper
Date Issued
2019-01-18
Sprache
English
Author(s)
Bakr, Mohamed  
Datar, Adwait  
Gonzalez Alvarez, Alejandro  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/2194
Journal
Proceedings of the IEEE Conference on Decision & Control  
Start Page
1174
End Page
1179
Citation
Proceedings of the IEEE Conference on Decision and Control (2018-December): 1174-1179 (2019-01-18)
Contribution to Conference
57th IEEE Conference on Decision and Control, CDC 2018  
Publisher DOI
10.1109/CDC.2018.8619212
Scopus ID
2-s2.0-85062168926
We extend a recently proposed data-driven control technique for reference tracking to a class of Multi-Input Multi-Output (MIMO) systems where the coupling between the different states is 'weak' in the sense of an induced norm. Using analysis results from earlier work and by augmenting it with small-gain arguments for the coupling terms, we extend the analysis to MIMO systems. Additionally, a systematic procedure is proposed to tune and estimate the controller parameters. The data-driven controller is implemented in simulation and on an experimental Control Moment Gyroscope (CMG) test bed. The effectiveness of the technique is demonstrated by comparing its tracking performance to that of an LPV controller. © 2018 IEEE.