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-2 | Engels |
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Artikelnummer | 106152 |
Aantal pagina's | 10 |
Tijdschrift | Control Engineering Practice |
Volume | 154 |
Vroegere onlinedatum | 6 nov. 2024 |
DOI's | |
Status | Gepubliceerd - jan. 2025 |
Bibliografische nota
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