Adaptive partial state feedback stabilization of a class of electromechanical systems via immersion and invariance

Author

Rodriguez, Hugo ; Astolfi, Alessandro ; Ortega, Romeo

Author_Institution

Dept. of Electr. & Comput. Eng., Northeastern Univ., Boston, MA, USA

Volume

4

fYear

2003

fDate

4-6 June 2003

Firstpage

3293

Abstract

In this article we propose an adaptive partial state feedback controller, which uses only measurement of the electrical coordinates and of the mechanical position, for asymptotic position regulation of a class of electromechanical systems. The controller design relies on the asymptotic reconstruction of a stabilizing full information controller derived via the interconnection and damping assignment passivity-based control method. Detailed calculations for a permanent magnet (PM) synchronous motor are presented.

Keywords

adaptive control; control system synthesis; damping; invariance; mechanical variables control; parameter estimation; permanent magnet motors; position control; state estimation; state feedback; PM motor; adaptive partial state feedback stabilization; asymptotic position regulation; asymptotic reconstruction; damping assignment passivity-based control method; electrical coordinates measurement; electromechanical system; immersion; invariance; mechanical position measurement; permanent magnet synchronous motor; stabilizing full information controller; Adaptive control; Control systems; Coordinate measuring machines; Damping; Electric variables measurement; Electromechanical systems; Mechanical variables measurement; Position measurement; Programmable control; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2003. Proceedings of the 2003

ISSN

0743-1619

Print_ISBN

0-7803-7896-2

Type

conf

DOI

10.1109/ACC.2003.1244039

Filename

1244039