A para-model agent for dynamical systems

Abstract

Consider a dynamical system $u\mapsto x,\dot{x}=f_{nl}(x,u)$ where $f_{nl}$ is a nonlinear (convex or nonconvex) function, or a combination of nonlinear functions that can eventually switch. We present, in this preliminary work, a generalization of the standard model-free control, that can either control the dynamical system, given an output reference trajectory, or optimize the dynamical system as a derivative-free optimization based "extremum-seeking" procedure. Multiple applications are presented and the robustness of the proposed method is studied in simulation.

arXiv comment41 pages, 38 figures, partially presented at the French Symposium of Electrical Engineering in Grenoble, Jun. 2016 and at the Sparse days in St Girons III, Jul. 2015

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