U-model based multivariable nonlinear adaptive control.

摘要

Many of the real industrial systems are multivariable and nonlinear in nature. Establishing a nonlinear adaptive control algorithm has always been a major research area for control engineers. A generalized modelling framework with perfect approximation capabilities is required which also assists in finding a simple control law. In this research a technique based on the control-oriented model called U-model is developed for multi-input multi-output nonlinear adaptive control. The U-model inverse is developed based on Newton-Raphson method. The technique is applied to different control schemes such as Internal Model Control, Learning feed forward Control, modified Internal Model Control and Nonlinear Hammerstein Control. Performance comparison and stability analysis are also presented. The proposed U-model based schemes are tested on a laboratory scale prototype 2-degree-of-freedom robot manipulator.;Keywords. U-model, nonlinear systems, adaptive control, RBFNN, Robotics, MIMO.