用数据驱动方法设计稳定控制器，兼顾可扩展性与闭环稳定性。
Dissipative iFIR filters for data-driven design
- 结合虚拟参考反馈调优与耗散性约束，实现稳定控制
- 将约束转化为频域线性不等式，问题为凸优化
- 适合需要稳定保证的数据驱动控制场景
针对可扩展的数据驱动控制设计中闭环稳定性保障难题，本文结合虚拟参考反馈调优与控制器的耗散性约束，确保闭环稳定性。约束以频域线性不等式形式表达，使问题具有凸性，且可随数据长度和控制器复杂度扩展。还讨论了引入扰动动态的扩展方法。通过软夹持器阻抗控制实例验证了所提方法的有效性。
原文摘要 · Abstract (English)
We tackle the problem of providing closed-loop stability guarantees with a scalable data-driven design. We combine virtual reference feedback tuning with dissipativity constraints on the controller for closed-loop stability. The constraints are formulated as a set of linear inequalities in the frequency domain. This leads to a convex problem that is scalable with respect to the length of the data and the complexity of the controller. An extension of virtual reference feedback tuning to include disturbance dynamics is also discussed. The proposed data-driven control design is illustrated by a soft gripper impedance control example.
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