U-Model Based 2DoF Multi-Variable IMC for Improved Input-Disturbance Rejection

A Case Study on a 2-Link Robot Manipulator

Syed Saad Azhar Ali, Fouad M. Al-Sunni, M. Shafiq

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

A 2-degree-of-freedom internal model control strategy based on U-model is presented for an unknown multivariable nonlinear systems. The proposed algorithm focuses the case where the noise is added at the input of the system and makes use of a local disturbance rejector. The unknown multivariable nonlinear system is identified by the control oriented U-model and the inverse controller is established using Newton-Raphson method. The proposed algorithm is tested in real-time on a 2-link robot manipulator.

Original languageEnglish
Pages (from-to)166-175
Number of pages10
JournalInternational Journal of Advanced Robotic Systems
Volume8
Issue number4
DOIs
Publication statusPublished - Sep 1 2011

Fingerprint

Disturbance rejection
Manipulators
Robots
Nonlinear systems
Newton-Raphson method
Controllers

Keywords

  • control oriented U-model
  • Newton-Raphson
  • Robot Manipulator

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence

Cite this

U-Model Based 2DoF Multi-Variable IMC for Improved Input-Disturbance Rejection : A Case Study on a 2-Link Robot Manipulator. / Azhar Ali, Syed Saad; Al-Sunni, Fouad M.; Shafiq, M.

In: International Journal of Advanced Robotic Systems, Vol. 8, No. 4, 01.09.2011, p. 166-175.

Research output: Contribution to journalArticle

@article{c86345b65cbb43a6b3a82804cc152a44,
title = "U-Model Based 2DoF Multi-Variable IMC for Improved Input-Disturbance Rejection: A Case Study on a 2-Link Robot Manipulator",
abstract = "A 2-degree-of-freedom internal model control strategy based on U-model is presented for an unknown multivariable nonlinear systems. The proposed algorithm focuses the case where the noise is added at the input of the system and makes use of a local disturbance rejector. The unknown multivariable nonlinear system is identified by the control oriented U-model and the inverse controller is established using Newton-Raphson method. The proposed algorithm is tested in real-time on a 2-link robot manipulator.",
keywords = "control oriented U-model, Newton-Raphson, Robot Manipulator",
author = "{Azhar Ali}, {Syed Saad} and Al-Sunni, {Fouad M.} and M. Shafiq",
year = "2011",
month = "9",
day = "1",
doi = "10.5772/45689",
language = "English",
volume = "8",
pages = "166--175",
journal = "International Journal of Advanced Robotic Systems",
issn = "1729-8806",
publisher = "Vienna University of Technology",
number = "4",

}

TY - JOUR

T1 - U-Model Based 2DoF Multi-Variable IMC for Improved Input-Disturbance Rejection

T2 - A Case Study on a 2-Link Robot Manipulator

AU - Azhar Ali, Syed Saad

AU - Al-Sunni, Fouad M.

AU - Shafiq, M.

PY - 2011/9/1

Y1 - 2011/9/1

N2 - A 2-degree-of-freedom internal model control strategy based on U-model is presented for an unknown multivariable nonlinear systems. The proposed algorithm focuses the case where the noise is added at the input of the system and makes use of a local disturbance rejector. The unknown multivariable nonlinear system is identified by the control oriented U-model and the inverse controller is established using Newton-Raphson method. The proposed algorithm is tested in real-time on a 2-link robot manipulator.

AB - A 2-degree-of-freedom internal model control strategy based on U-model is presented for an unknown multivariable nonlinear systems. The proposed algorithm focuses the case where the noise is added at the input of the system and makes use of a local disturbance rejector. The unknown multivariable nonlinear system is identified by the control oriented U-model and the inverse controller is established using Newton-Raphson method. The proposed algorithm is tested in real-time on a 2-link robot manipulator.

KW - control oriented U-model

KW - Newton-Raphson

KW - Robot Manipulator

UR - http://www.scopus.com/inward/record.url?scp=84991694278&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84991694278&partnerID=8YFLogxK

U2 - 10.5772/45689

DO - 10.5772/45689

M3 - Article

VL - 8

SP - 166

EP - 175

JO - International Journal of Advanced Robotic Systems

JF - International Journal of Advanced Robotic Systems

SN - 1729-8806

IS - 4

ER -