Abstract
Nowadays, data are ubiquitous in control design and data-driven approaches are in constant evolution. By following such a trend, in this paper we propose an approach for the direct data-driven design of switching reference governors for nonlinear plants and we apply it within a brake-by-wire application. The braking system is assumed to be pre-stabilized via a simple unknown controller attaining unsatisfactory performance in terms of output tracking and actuator effort. Hence, the reference governor is used to improve the overall closed-loop behavior, resulting into safer maneuvering. Preliminary results on a simulation setup show the effectiveness of the proposed strategy, thus motivating further investigation on the topic.
| Original language | English |
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| Title of host publication | Proceedings of the 3rd Conference on Learning for Dynamics and Control |
| Publisher | PMLR |
| Pages | 99-110 |
| Number of pages | 12 |
| Publication status | Published - 2021 |
| Externally published | Yes |
| Event | 3rd Annual Conference on Learning for DynamIcs & Control, L4DC 2021 - Zurich, Switzerland Duration: 7 Jun 2021 → 8 Jun 2021 Conference number: 3 https://l4dc.ethz.ch/ |
Publication series
| Name | Proceedings of Machine Learning Research |
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| Publisher | PMLR |
| Volume | 144 |
| ISSN (Electronic) | 2640-3498 |
Conference
| Conference | 3rd Annual Conference on Learning for DynamIcs & Control, L4DC 2021 |
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| Abbreviated title | L4DC 2021 |
| Country/Territory | Switzerland |
| City | Zurich |
| Period | 7/06/21 → 8/06/21 |
| Internet address |
Keywords
- Data-driven control
- Brake-by-wire applications
- Switching control
- Reference governor
- data-driven control
- Hierarchical control
- braking control