This paper deals with data-based optimal control. The control algorithm consists of two complementary subsystems, namely a data-based observer and an optimal feedback controller based on the system's Markov parameters. These parameters can be identified on-line using only input/output data. The effectiveness of the resulting controller is evaluated with a regulation and a tracking control experiment, performed on a direct-drive robot of spatial kinematics.
|Title of host publication||Proceedings of the 2005 American Control Conference (Portland OR, USA, June 8-10, 2005), vol.3|
|Place of Publication||Piscataway NJ, USA|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2005|