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Author Hu, J. ♦ Dawson, D.M. ♦ Vedagarbha, P.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1995
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Rotors ♦ Voltage control ♦ Robots ♦ Manipulator dynamics ♦ Induction motors ♦ Velocity control ♦ Current measurement ♦ Mechanical variables measurement ♦ Electric variables measurement ♦ Position measurement
Abstract In this paper, we present a voltage input controller for a single-link robot manipulator actuated by induction motor. The control is designed to compensate for the nonlinear dynamics associated with the mechanical subsystem and the electrical subsystems while only requiring measurements of rotor position, rotor velocity, and stator winding currents. Specifically, through the use of nonlinear observers for rotor flux and an observed integrator backstepping approach, we obtain semi-global uniform ultimately bounded position (SGUUB) tracking. The result is semi-global in the sense that a control parameter must be made sufficiently large relative to the electromechanical initial conditions in order to guarantee that control singularities are avoided. Experimental results are then presented to illustrate the performance of the proposed approach applied to a one-link robot.
Description Author affiliation: Dept. of Electr. Eng., Clemson Univ., SC, USA (Hu, J.)
ISBN 0780325508
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1995-09-28
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 755.16 kB
Page Count 6
Starting Page 985
Ending Page 990

Source: IEEE Xplore Digital Library