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 |
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| Subjects: | Systems |
| Department: | College of Computing and Mathematics > lndustrial and Systems Engineering |
| Depositing User: | SYED AMEENUDDIN HUSSAIN |
| Date Deposited: | 11 Jun 2008 07:40 |
| Last Modified: | 01 Nov 2019 13:30 |
| URI: | http://eprints.kfupm.edu.sa/id/eprint/1973 |