A data-driven control design approach for Multiple Input Multiple Output nonlinear systems is presented in this paper. The approach, called Nonlinear Inversion Control (NIC), is based on the identification of a polynomial prediction model of the system to control and the on-line inversion of this model. The main features of the NIC approach can be summarized as follows: it does not require a physical model of the plant to control which, in many real-world situations, may be difficult to derive; it can guarantee a priori properties such as closed-loop stability and tracking error accuracy; it is general, numerically efficient and relatively simple. Extensive simulations are carried out to test the numerical efficiency of the NIC approach. A simulated example of industrial interest is also presented, concerned with control of a robotic manipulator.
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|Titolo:||Control of MIMO nonlinear systems: A data-driven model inversion approach|
|Data di pubblicazione:||2019|
|Digital Object Identifier (DOI):||http://dx.doi.org/10.1016/j.automatica.2018.12.026|
|Appare nelle tipologie:||1.1 Articolo in rivista|