Generation of differentiable homomorphism function based on self-organizing polynomial data-mining algorithm

This paper presents a new controller design method based on the data-mining polynomial algorithm. We show application of a polynomial data-mining algorithm to controller design, where an input-state linearized polynomial vehicle model is developed for a very low speed operation and without introducing any process with fudge factor, control inputs of nonlinear system are obtained in the original coordinate. We verify the developed modeling method and controller design method through some numerical experiments.