Learning Controllers From Data via Approximate Nonlinearity Cancellation

DOI10.1109/TAC.2023.3234889MaRDI QIDQ6184432zbMATH OpenOpenAlexFDO

Authors C. De Persis, Monica Rotulo, Pietro Tesi

Publication date 25 January 2024

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2201.10232

zbMATH Keywords

control designdata-driven controllearning systemslinear matrix inequalitiesnonlinear control systemsrobust control

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Abstract: We introduce a method to deal with the data-driven control design of nonlinear systems. We derive conditions to design controllers via (approximate) nonlinearity cancellation. These conditions take the compact form of data-dependent semi-definite programs. The method returns controllers that can be certified to stabilize the system even when data are perturbed and disturbances affect the dynamics of the system during the execution of the control task, in which case an estimate of the robustly positively invariant set is provided.

Cited in

(17)

• Data-driven stabilization of nonlinear systems via Taylor's expansion
• Data-driven stabilization of switched and constrained linear systems
• Online adaptation of data-driven controllers for unknown nonlinear systems
• Data-driven sliding mode control for partially unknown nonlinear systems
• Data-driven output feedback control of nonlinear systems: stabilization and robustness
• Robust distributed Nash equilibrium seeking via data-driven output regulation
• Data-based regional stabilization of linear systems with saturating actuators
• Aperiodic-sampled neural network controllers with closed-loop stability verifications
• Direct data-driven state-feedback control of linear parameter-varying systems
• TRUST: stabili\underline{T}y and safety cont\underline{R}oller synthesis for \underline{U}nknown dynamical models using a \underline{S}ingle \underline{T}rajectory
• Data-driven dynamic controller synthesis for discrete-time general nonlinear systems
• Static output-feedback control design from data
• Trajectory-based stabilization of periodic orbits
• Data-driven harmonic output regulation of a class of nonlinear systems
• Data-driven distributed safe control design for multi-agent systems
• Event-triggered control of nonlinear systems from data
• Data-driven robust MPC for unknown nonlinear systems via set-membership learning

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