Multi-parametric extremum seeking-based iterative feedback gains tuning for nonlinear control
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Abstract: We study in this paper the problem of iterative feedback gains tuning for a class of nonlinear systems. We consider Input-Output linearizable nonlinear systems with additive uncertainties. We first design a nominal Input-Output linearization-based controller that ensures global uniform boundedness of the output tracking error dynamics. Then, we complement the robust controller with a model-free multi-parametric extremum seeking (MES) control to iteratively auto-tune the feedback gains. We analyze the stability of the whole controller, i.e. robust nonlinear controller plus model-free learning algorithm. We use numerical tests to demonstrate the performance of this method on a mechatronics example.
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Cites work
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- scientific article; zbMATH DE number 4083523 (Why is no real title available?)
- Robust nonlinear state estimation for a class of infinite-dimensional systems using reduced-order models
- Hybrid online learning control in networked multiagent systems: A survey
- Learning-based iterative modular adaptive control for nonlinear systems
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