Data driven feedback linearization of nonlinear control systems via Lie derivatives and stacked regression approach
This work addresses the challenge of controlling complex physical systems with nonlinear dynamics, offering a novel approach that could improve automation and robotics, though it appears incremental by building on existing regression and Lie derivative techniques.
The authors tackled the problem of identifying and feedback linearizing nonlinear control systems by proposing a method that combines sparse regression with Lie derivatives and stacked regression to discover governing equations and design controllers, achieving effective linearization without internal dynamics.
Discovering the governing equations of a physical system and designing an effective feedback controller remains one of the most challenging and intensive areas of ongoing research. This task demands a deep understanding of the system behavior, including the nonlinear factors that influence its dynamics. In this article, we propose a novel methodology for identifying a feedback linearized physical system based on known prior dynamic behavior. Initially, the system is identified using a sparse regression algorithm, subsequently a feedback controller is designed for the discovered system by applying Lie derivatives to the dictionary of output functions to derive an augmented constraint which guarantees that no internal dynamics are observed. Unlike the prior related works, the novel aspect of this article combines the approach of stacked regression algorithm and relative degree conditions to discover and feedback linearize the true governing equations of a physical model.