Learning feedforward control of mimo nonlinear systems using U-model

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

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

7 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 languageEnglish
Title of host publicationProceedings of the 9th IASTED International Conference on Control and Applications, CA 2007
Pages278-283
Number of pages6
Publication statusPublished - 2007
Event9th IASTED International Conference on Control and Applications, CA 2007 - Montreal, QC, Canada
Duration: May 30 2007 → Jun 1 2007

Other

Other9th IASTED International Conference on Control and Applications, CA 2007
CountryCanada
CityMontreal, QC
Period5/30/07 → 6/1/07

Fingerprint

Feedforward control
Nonlinear systems
Controllers
Multivariable systems
Newton-Raphson method
Manipulators
Robots

Keywords

  • LFFC
  • MIMO nonlinear systems
  • RBFNN
  • Robotics
  • U-model

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ali, S. S. A., Al-Sunni, F. M., Shafiq, M., & Bakhashwain, J. M. (2007). Learning feedforward control of mimo nonlinear systems using U-model. In Proceedings of the 9th IASTED International Conference on Control and Applications, CA 2007 (pp. 278-283)

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

Ali, SSA, Al-Sunni, FM, Shafiq, M & Bakhashwain, JM 2007, Learning feedforward control of mimo nonlinear systems using U-model. in Proceedings of the 9th IASTED International Conference on Control and Applications, CA 2007. pp. 278-283, 9th IASTED International Conference on Control and Applications, CA 2007, Montreal, QC, Canada, 5/30/07.
Ali SSA, Al-Sunni FM, Shafiq M, Bakhashwain JM. Learning feedforward control of mimo nonlinear systems using U-model. In Proceedings of the 9th IASTED International Conference on Control and Applications, CA 2007. 2007. p. 278-283
Ali, S. Saad Azhar ; Al-Sunni, Fouad M. ; Shafiq, Muhammad ; Bakhashwain, Jamil M. / Learning feedforward control of mimo nonlinear systems using U-model. Proceedings of the 9th IASTED International Conference on Control and Applications, CA 2007. 2007. pp. 278-283
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