Learning Feedforward Control Of MIMO Nonlinear Systems Using U-Model

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
Depositing User: MR. ATIQ WALIULLAH SIDDIQUI
Date Deposited: 11 Jun 2008 09:46
Last Modified: 01 Nov 2019 16:44
URI: http://eprints.kfupm.edu.sa/id/eprint/2418