U-model based learning feedforward control of MIMO nonlinear systems

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

Research output: Contribution to journalArticle

20 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 languageEnglish
Pages (from-to)405-415
Number of pages11
JournalElectrical Engineering
Volume91
Issue number8
DOIs
Publication statusPublished - Apr 2010

Fingerprint

Learning Control
Feedforward Control
Feedforward control
MIMO Systems
Feedforward
MIMO systems
Nonlinear systems
Multivariable Systems
Nonlinear Systems
Model-based
Controller
Controllers
Robot Manipulator
Tracking Control
Multivariable systems
Simplify
Model
Synthesis
Manipulators
Real-time

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Applied Mathematics

Cite this

U-model based learning feedforward control of MIMO nonlinear systems. / Ali, S. Saad Azhar; Al-Sunni, Fouad M.; Shafiq, Muhammad; Bakhashwain, Jamil M.

In: Electrical Engineering, Vol. 91, No. 8, 04.2010, p. 405-415.

Research output: Contribution to journalArticle

Ali, S. Saad Azhar ; Al-Sunni, Fouad M. ; Shafiq, Muhammad ; Bakhashwain, Jamil M. / U-model based learning feedforward control of MIMO nonlinear systems. In: Electrical Engineering. 2010 ; Vol. 91, No. 8. pp. 405-415.
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