Learning feedforward control of MIMO nonlinear systems using U-model

Authors:
S. Saad Azhar Ali;Fouad M. Al-Sunni;Muhammad Shafiq;Jamil M. Bakhashwain
Affiliations:
King Fahd University of Petroleum & Minerals, Dhahran, Saudi Arabia;King Fahd University of Petroleum & Minerals, Dhahran, Saudi Arabia;King Fahd University of Petroleum & Minerals, Dhahran, Saudi Arabia;King Fahd University of Petroleum & Minerals, Dhahran, Saudi Arabia
Venue:
CA '07 Proceedings of the Ninth IASTED International Conference on Control and Applications
Year:
2007

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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-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.