A partial state feedback controller for SRM-RLED robot manipulators: preliminary experimental validation

Author

de Queiroz, M.S. ; Burg, T. ; Dawson, D. ; Donepudi, S.

Author_Institution

Dept. of Electr. Eng., Clemson Univ., SC, USA

fYear

1995

fDate

28-29 Sep 1995

Firstpage

916

Lastpage

921

Abstract

In this paper, we consider the problem of designing an exact model knowledge, partial state feedback (i.e., measurements of link position and electrical current only) controller for a rigid-link electrically-driven (RLED) robot manipulator actuated by switched-reluctance motors (SRM). The voltage-level controller utilizes a model-based observer to estimate link velocity and is designed using the observed integrator backstepping approach. The proposed controller achieves semi-global exponential link position-velocity tracking. A simulation study for a two-link planar robot is included. Preliminary experimental results are also given for one link of the IMI direct drive robot

Keywords

manipulators; IMI direct drive robot; SRM-RLED robot manipulators; electrical current measurement; exact model knowledge control; link position measurement; link velocity estimation; model-based observer; observed integrator backstepping; partial state feedback controller; rigid-link electrically-driven robot manipulator; semi-global exponential link position-velocity tracking; switched-reluctance motors; two-link planar robot; voltage-level controller; Current measurement; Electric variables measurement; Manipulators; Observers; Position measurement; Reluctance motors; Robot control; State feedback; Velocity control; Voltage control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1995., Proceedings of the 4th IEEE Conference on

Conference_Location

Albany, NY

Print_ISBN

0-7803-2550-8

Type

conf

DOI

10.1109/CCA.1995.555877

Filename

555877