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Direct data driven nonlinear control design

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EEDT-DC

Direct Data Driven Nonlinear Control Design

S. Khatiry Goharoodi, D. Khandelwal, R. Tóth, G. Crevecoeur

Goal

Design a data-driven nonlinear controller for an unknown plant

Motivation

Approach

• Tree Adjoining Grammar (TAG)

• Genetic Programming

Results

• Numerical example: Slider Crank

• Controller performance

Key take-aways

• Successful discovery of both the structure and parameters of the controller only by using numerical input/output data.

• Future work: Experimental validation using noisy data A comparison between: Nonlinear controller closed-loop output

response 𝑦𝑛𝑜𝑛𝑙𝑖𝑛𝑒𝑎𝑟, PI controller closed-loop output response 𝑦𝑃𝐼and the desired output response 𝑦𝑀.

Further reading

Khandelwal, D., M. Schoukens, and R. Tóth. "A Tree Adjoining Grammar Representation for Models Of Stochastic Dynamical Systems."arXiv preprint arXiv:2001.05320 (2020).

• Motivation

- Minimal expert user intervention

- No prior knowledge of the plant and controller

• Challenges

- Unknown dynamical structure - Noisy data

- Physical interpretation

Approach

• Virtual Reference Feedback Tuning (VRFT)

𝑡

output input

Références

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