@inproceedings{3b44a991bf0946d4801e0f15d341a1f5,
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",
series = "Proceedings of the 9th IASTED International Conference on Control and Applications, CA 2007",
pages = "278--283",
booktitle = "Proceedings of the 9th IASTED International Conference on Control and Applications, CA 2007",
note = "9th IASTED International Conference on Control and Applications, CA 2007 ; Conference date: 30-05-2007 Through 01-06-2007",
}