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 |
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| 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