Title :
Adaptive decentralized control of robot manipulators driven by current-fed induction motors
Author :
Hsu, Su-Hau ; Fu, Li-Chen
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
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.
Keywords :
adaptive control; closed loop systems; decentralised control; induction motors; manipulators; observers; rotors; adaptive decentralized control; closed loop system; current fed induction motor; electromechanical system; robot manipulators; rotor flux observer; tracking control; Adaptive control; Adaptive systems; Distributed control; Electromechanical systems; Induction motors; Manipulators; Programmable control; Robot control; Rotors; Uncertainty; Adaptive control; decentralized control; induction motors; manipulators;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2005.852453
