Learning feedforward control of mimo nonlinear systems using U-model

S. Saad Azhar Ali; Fouad M. Al-Sunni; Muhammad Shafiq; Jamil M. Bakhashwain

Learning feedforward control of mimo nonlinear systems using U-model

S. Saad Azhar Ali, Fouad M. Al-Sunni, Muhammad Shafiq, Jamil M. Bakhashwain

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings of the 9th IASTED International Conference on Control and Applications, CA 2007
Pages	278-283
Number of pages	6
Publication status	Published - 2007
Event	9th IASTED International Conference on Control and Applications, CA 2007 - Montreal, QC, Canada Duration: May 30 2007 → Jun 1 2007

Other

Other	9th IASTED International Conference on Control and Applications, CA 2007
Country	Canada
City	Montreal, QC
Period	5/30/07 → 6/1/07

Keywords

LFFC
MIMO nonlinear systems
RBFNN
Robotics
U-model

ASJC Scopus subject areas

Control and Systems Engineering

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Cite this

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title = "Learning feedforward control of mimo nonlinear systems using U-model",

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.",

keywords = "LFFC, MIMO nonlinear systems, RBFNN, Robotics, U-model",

author = "Ali, {S. Saad Azhar} and Al-Sunni, {Fouad M.} and Muhammad Shafiq and Bakhashwain, {Jamil M.}",

year = "2007",

language = "English",

isbn = "9780889866652",

pages = "278--283",

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note = "9th IASTED International Conference on Control and Applications, CA 2007 ; Conference date: 30-05-2007 Through 01-06-2007",

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T1 - Learning feedforward control of mimo nonlinear systems using U-model

AU - Ali, S. Saad Azhar

AU - Al-Sunni, Fouad M.

AU - Shafiq, Muhammad

AU - Bakhashwain, Jamil M.

PY - 2007

Y1 - 2007

N2 - 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.

AB - 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.

KW - LFFC

KW - MIMO nonlinear systems

KW - RBFNN

KW - Robotics

KW - U-model

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EP - 283

BT - Proceedings of the 9th IASTED International Conference on Control and Applications, CA 2007

T2 - 9th IASTED International Conference on Control and Applications, CA 2007

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