ملخص
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-Raph-son 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.
اللغة الأصلية | English |
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الصفحات (من إلى) | 405-415 |
عدد الصفحات | 11 |
دورية | Electrical Engineering |
مستوى الصوت | 91 |
رقم الإصدار | 8 |
المعرِّفات الرقمية للأشياء | |
حالة النشر | Published - أبريل 2010 |
ASJC Scopus subject areas
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