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
Department:	College of Computing and Mathematics > lndustrial and Systems Engineering
Depositing User:	MR. ATIQ WALIULLAH SIDDIQUI
Date Deposited:	11 Jun 2008 06:46
Last Modified:	01 Nov 2019 13:44
URI:	http://eprints.kfupm.edu.sa/id/eprint/2418