DocumentCode :
3252057
Title :
On determining the model structure of a nonlinear feedback control law for a model following nonlinear system
Author :
Mohseni, S. ; Ghorieshi, M.
Author_Institution :
Sch. of Eng. & Phys. Sci., Wilkes Coll., Wilkes Barre, PA, USA
fYear :
1989
fDate :
0-0 1989
Firstpage :
415
Lastpage :
418
Abstract :
The authors present a methodology to determine the model structure of a nonlinear feedback control law so that when it is applied to a model following nonlinear system with predominant nonlinearities, such as industrial robots, it will cause the output of the model following system to follow the output of the referenced model accurately. The proposed algorithm starts with a control sequence for the nonlinear plant which is equal to the control sequence for the model. This control sequence is updated iteratively, taking into consideration a library of nonlinear vector-valued functions associated with the dynamic equations of the nonlinear plant. The essential feature of the technique is that it recursively generates a sequence of projection matrices to be used as mapping transformation operators so that the original vector-valued functions become conjugate directions. This leaves the original nonlinear dynamic equations intact and allows the n-term nonlinear control law to be assembled in n selections from the library.<>
Keywords :
feedback; nonlinear control systems; industrial robots; model following nonlinear system; model structure; nonlinear feedback control law; nonlinear vector-valued functions; Feedback; Nonlinear systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems Engineering, 1989., IEEE International Conference on
Conference_Location :
Fairborn, OH, USA
Type :
conf
DOI :
10.1109/ICSYSE.1989.48705
Filename :
48705
Link To Document :
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