标题： 基于数据驱动的耗散iFIR滤波器 显示英文标题

标题： Dissipative iFIR filters for data-driven design

摘要： 我们针对利用数据驱动设计提供闭环稳定性保证的问题展开了研究。我们将虚拟参考反馈调整与控制器的耗散性约束相结合，以确保闭环稳定性。这些约束被表述为频域内的一组线性不等式。这导致了一个在数据长度和控制器复杂度方面可扩展的凸优化问题。此外，还讨论了将虚拟参考反馈调整扩展到包含扰动动态的方法。所提出的基于数据的控制设计通过一个柔性夹爪阻抗控制示例进行了说明。 显示英文摘要

摘要： 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.