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Learning Feedforward Control Of MIMO Nonlinear Systems Using U-Model

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.

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Abstract

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.



Item Type:Article
Subjects:Systems
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, alsunni@kfupm.edu.sa, mshafiq@ccse.kfupm.edu.sa, UNSPECIFIED
ID Code:2418
Deposited By:MR. ATIQ WALIULLAH SIDDIQUI
Deposited On:11 Jun 2008 09:46
Last Modified:12 Apr 2011 13:13

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