Learning Controllers From Data via Approximate Nonlinearity Cancellation

DOI10.1109/TAC.2023.3234889arXiv2201.10232OpenAlexW4313644371MaRDI QIDQ6184432FDOQ6184432

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)

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.

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

zbMATH Keywords

linear matrix inequalitiesrobust controlnonlinear control systemscontrol designdata-driven controllearning systems

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Cited In (2)

• Data-driven stabilization of nonlinear systems via Taylor's expansion
• Data-driven stabilization of switched and constrained linear systems

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