Randomized iterative feedback tuning for fast MIMO feedback design of a mechatronic system

Leontine Aarnoudse (Corresponding author), Peter den Toom, Tom Oomen

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Samenvatting

Iterative feedback tuning (IFT) enables the tuning of feedback controllers using only measured data to obtain the gradient of a cost criterion. The aim of this paper is to reduce the required number of experiments for MIMO IFT. It is shown that, through a randomization technique, an unbiased gradient estimate can be obtained from a single dedicated experiment, regardless of the size of the MIMO system. The gradient estimate is used in a stochastic gradient descent algorithm. The approach is experimentally validated on a mechatronic system, showing a significantly reduced number of experiments compared to standard IFT.

Originele taal-2Engels
Artikelnummer106152
Aantal pagina's10
TijdschriftControl Engineering Practice
Volume154
Vroegere onlinedatum6 nov. 2024
DOI's
StatusGepubliceerd - jan. 2025

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© 2024 The Authors

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