A Model-Free High-order Fully Actuated System Method

This paper aims to investigate a data-driven control based on the high-order fully actuated system (HOFAS) method. Firstly, an equivalent representation of the discrete-time nonlinear nonaffine HOFAS is established, which includes an unknown parameter compressed into all unknown nonlinearities. Then, the parameter is estimated by a projection algorithm. Based on this, a model-free HOFAS (MF-HOFAS) method is proposed. Different from the traditional HOFAS methods, the proposed MF-HOFAS approach is data-driven, where no model information is used, which avoids the difficulties caused by model mismatch in practical applications. Finally, rigorous theoretical analysis is conducted, and simulation results verify the effectiveness of the presented MF-HOFAS method.