Adaptive decentralized control of robot manipulators driven by current-fed induction motors
Resource
IEEE/ASME Trans. on Mechatronics 10 (4): 465-468
Journal
IEEE/ASME Transactions on Mechatronics
Journal Volume
10
Journal Issue
4
Pages
465-468
Date Issued
2005
Author(s)
Abstract
In this paper, an adaptive decentralized control scheme with a rotor-flux observer is proposed for the tracking control of robot manipulators actuated by current-fed induction motors. To cope with all parametric uncertainties in the electromechanical systems, an adaptive law is designed so that all the signals of closed-loop systems are bounded, and the tracking errors in position, velocity and rotor fluxes converge to a residual set.
SDGs
Type
journal article
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