Adaptive Piecewise–Affine Inverse Modeling of Hybrid Dynamical Systems
Adaptive Piecewise–Affine Inverse Modeling of Hybrid Dynamical Systems
复制标题
混合动力系统的自适应分段仿射逆建模
DOI：
10.3182/20140824-6-za-1003.02610
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
S. Sastry
中科院分区：
文献类型：
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作者：
Ehsan Elhamifar;Samuel A. Burden;S. Sastry
摘要是由复杂运动控制系统的研究动机，我们考虑了分段仿射（PWA）系统的识别和控制，并提出了一种新型的数据驱动框架，该框架可适应使用噪音采样数据，使这些系统的动力学反转。新的PWA识别算法基于适用于状态空间和输入/输出模型的凸优化。控制所得的混合系统，我们的目标是找到一个给定参考轨迹或极端性能标准的输入。
Abstract Motivated by the study of complex motor control systems, we consider the identification and control of PieceWise Affine (PWA) systems and propose a novel data-driven framework that adaptively inverts the dynamics of such systems using noisy sampled data. First, we propose a novel PWA identification algorithm based on convex optimization applicable to both state–space and input/output models. Given a PWA model of the dynamics obtained from the identification algorithm, we consider the control of the resulting hybrid system where our goal is to find an input that reproduces a given reference trajectory or that extremizes a performance criterion. We demonstrate our proposed framework on a model of a jumping robot.
用于步态正向动态模拟的动态一致运动学和动力学的最佳估计。
DOI：
10.1115/1.3005148
发表时间：
2009
期刊：
Journal of biomechanical engineering
影响因子：
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作者：
Remy,CDavid;Thelen,DarrylG
通讯作者：
Thelen,DarrylG