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 |
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Keywords
- LFFC
- MIMO nonlinear systems
- RBFNN
- Robotics
- U-model
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Learning feedforward control of mimo nonlinear systems using U-model. / Ali, S. Saad Azhar; Al-Sunni, Fouad M.; Shafiq, Muhammad; Bakhashwain, Jamil M.
Proceedings of the 9th IASTED International Conference on Control and Applications, CA 2007. 2007. p. 278-283.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
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
UR - http://www.scopus.com/inward/record.url?scp=54949140765&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=54949140765&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:54949140765
SN - 9780889866652
SP - 278
EP - 283
BT - Proceedings of the 9th IASTED International Conference on Control and Applications, CA 2007
ER -