Title :
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
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;
Conference_Titel :
Control Applications, 1995., Proceedings of the 4th IEEE Conference on
Conference_Location :
Albany, NY
Print_ISBN :
0-7803-2550-8
DOI :
10.1109/CCA.1995.555877
