TY - JOUR
T1 - Feedback linearisation of mechanical systems using data-driven models
AU - Floren, Merijn
AU - Classens, Koen
AU - Oomen, Tom
AU - Noël, Jean-Philippe
PY - 2024/5/12
Y1 - 2024/5/12
N2 - Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input–output response of a nonlinear system into an equivalent linear one. The main problem with feedback linearisation is that it requires an accurate first-principles model of the system, which are typically hard to obtain. In this paper, we design an alternative control approach that exploits data-driven models to linearise the input–output response of nonlinear mechanical systems. Specifically, a model-based reference tracking architecture is developed for nonlinear feedback systems with output nonlinearities. The overall methodology shows a high degree of performance combined with significant robustness against imperfect modelling and extrapolation. These findings are demonstrated using large set of synthetic experiments conducted on a asymmetric Duffing oscillator and using an experimental prototype of a high-precision motion system.
AB - Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input–output response of a nonlinear system into an equivalent linear one. The main problem with feedback linearisation is that it requires an accurate first-principles model of the system, which are typically hard to obtain. In this paper, we design an alternative control approach that exploits data-driven models to linearise the input–output response of nonlinear mechanical systems. Specifically, a model-based reference tracking architecture is developed for nonlinear feedback systems with output nonlinearities. The overall methodology shows a high degree of performance combined with significant robustness against imperfect modelling and extrapolation. These findings are demonstrated using large set of synthetic experiments conducted on a asymmetric Duffing oscillator and using an experimental prototype of a high-precision motion system.
KW - Data-driven modelling
KW - Feedback linearisation
KW - Nonlinear mechanical systems
KW - Nonlinearity
UR - http://www.scopus.com/inward/record.url?scp=85184747795&partnerID=8YFLogxK
U2 - 10.1016/j.jsv.2024.118335
DO - 10.1016/j.jsv.2024.118335
M3 - Article
AN - SCOPUS:85184747795
SN - 0022-460X
VL - 577
JO - Journal of Sound and Vibration
JF - Journal of Sound and Vibration
M1 - 118335
ER -