Azhar, ASS and AL-Sunni, Fouad and Shafiq, Muhammad and Bakhashwain, JM Learning Feedforward Control Of MIMO Nonlinear Systems Using U-Model. NINTH IASTED INTERNATIONAL CONFERENCE ON CONTROL AND APPLICATIONS. pp. 278-283.
|Microsoft Word (Learning Feedforward Control Of MIMO Nonlinear Systems Using U-Model)|
In this paper, a learning feedforward controller (LFFC) using the U-model is proposed for a better tracking control of multivariable nonlinear systems over a finite time interval. The multivariable system is modelled using the U-model and the LFFC is established using Newton-Raphson method. U-model significantly simplifies the online synthesis of the feedforward control law. The proposed technique is verified on 2-link robot manipulator in real-time. The performance of the proposed U-model based LFFC is compared with a number of schemes under varying load conditions.
|Divisions:||College Of Computer Sciences and Engineering > Systems Engineering Dept|
|Creators:||Azhar, ASS and AL-Sunni, Fouad and Shafiq, Muhammad and Bakhashwain, JM|
|Email:||UNSPECIFIED, email@example.com, firstname.lastname@example.org, UNSPECIFIED|
|Deposited By:||MR. ATIQ WALIULLAH SIDDIQUI|
|Deposited On:||11 Jun 2008 09:46|
|Last Modified:||12 Apr 2011 13:13|
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