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

doi:10.5772/45689

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

^*Corresponding author for this work

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

8 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 language	English
Pages (from-to)	166-175
Number of pages	10
Journal	International Journal of Advanced Robotic Systems
Volume	8
Issue number	4
DOIs	https://doi.org/10.5772/45689
Publication status	Published - Sept 1 2011

Keywords

Newton-Raphson
Robot Manipulator
control oriented U-model

ASJC Scopus subject areas

Software
Computer Science Applications
Artificial Intelligence

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10.5772/45689

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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.",

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AU - Al-Sunni, Fouad M.

AU - Shafiq, M.

N1 - Publisher Copyright: © SAGE Publications Ltd, unless otherwise noted. Manuscript content on this site is licensed under Creative Commons Licenses.

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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.

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U-Model Based 2DoF Multi-Variable IMC for Improved Input-Disturbance Rejection: A Case Study on a 2-Link Robot Manipulator

Abstract

Keywords

ASJC Scopus subject areas

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