U-model based learning feedforward control of MIMO nonlinear systems

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

doi:10.1007/s00202-010-0149-3

U-model based learning feedforward control of MIMO nonlinear systems

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

Electrical and Computer Engineering

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

27 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-Raph-son 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
Pages (from-to)	405-415
Number of pages	11
Journal	Electrical Engineering
Volume	91
Issue number	8
DOIs	https://doi.org/10.1007/s00202-010-0149-3
Publication status	Published - Apr 2010

Keywords

LFFC
MIMO nonlinear systems
RBFNN
Robotics
U-model

ASJC Scopus subject areas

Electrical and Electronic Engineering
Applied Mathematics

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10.1007/s00202-010-0149-3

Cite this

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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-Raph-son 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.",

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AU - Shafiq, Muhammad

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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-Raph-son 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.

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KW - Robotics

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U-model based learning feedforward control of MIMO nonlinear systems

Abstract

Keywords

ASJC Scopus subject areas

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