ملخص
A 2-degree-of-freedom internal model control strategy based on U-model is presented for an unknown multivariable nonlinear systems. The proposed algorithm focuses the case where the noise is added at the input of the system and makes use of a local disturbance rejector. The unknown multivariable nonlinear system is identified by the control oriented U-model and the inverse controller is established using Newton-Raphson method. The proposed algorithm is tested in real-time on a 2-link robot manipulator.
اللغة الأصلية | English |
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الصفحات (من إلى) | 166-175 |
عدد الصفحات | 10 |
دورية | International Journal of Advanced Robotic Systems |
مستوى الصوت | 8 |
رقم الإصدار | 4 |
المعرِّفات الرقمية للأشياء | |
حالة النشر | Published - سبتمبر 1 2011 |
ASJC Scopus subject areas
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