Data-driven control and transfer learning using neural canonical control structures*

arXiv2302.04042MaRDI QIDQ6425832FDOQ6425832

Authors: Lukas Ecker, Markus Schöberl 

Publication date: 8 February 2023

Abstract: An indirect data-driven control and transfer learning approach based on a data-driven feedback linearization with neural canonical control structures is proposed. An artificial neural network auto-encoder structure trained on recorded sensor data is used to approximate state and input transformations for the identification of the sampled-data system in Brunovsky canonical form. The identified transformations, together with a designed trajectory controller, can be transferred to a system with varied parameters, where the neural network weights are adapted using newly collected recordings. The proposed approach is demonstrated using an academic and an industrially motivated example.

This page was built for publication: Data-driven control and transfer learning using neural canonical control structures*

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6425832)