Abstract:

We study in this paper the problem of iterative feedback gains auto-tuning for a class of nonlinear systems. For the class of Input-Output linearizable nonlinear systems with bounded additive uncertainties, we first design a nominal Input-Output linearization-based robust controller that ensures global uniform boundedness of the output tracking error dynamics. Then, we complement the robust controller with a model-free multi-parametric extremum seeking (MES) control to iteratively auto-tune the feedback gains. We analyze the stability of the whole controller, i.e., robust nonlinear controller combined with the MES model-free learning algorithm. We use numerical tests to demonstrate the performance of this method on a mechatronics example.