U-Model Based 2DoF Multi-Variable IMC for Improved Input-Disturbance Rejection: A Case Study on a 2-Link Robot Manipulator-Reference-Cited by-同舟云学术

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

Published:2011-09-01 Issue:4 Volume:8 Page:48
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Azhar Ali Syed Saad¹,AL-Sunni Fouad M.²,Shafiq M.³

Affiliation:

1. Iqra University, Pakistan

2. King Fahd University of Petroleum & Minerals, Saudi Arabia

3. Sultan Qaboos University, Oman

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.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/45689

Reference16 articles.

1. Internal model control. A unifying review and some new results

2. Self-tuning control of non-linear ARMAX models

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