DocumentCode
294316
Title
A global adaptive link position tracking controller for robot manipulators driven by induction motors
Author
Hu, J. ; Dawson, D.M. ; Ou, Y.
Author_Institution
Dept. of Electr. Eng., Clemson Univ., SC, USA
Volume
1
fYear
1995
fDate
13-15 Dec 1995
Firstpage
33
Abstract
In this paper, we present an adaptive, partial-state feedback, link position tracking controller for robot manipulators driven by induction motors. The proposed controller compensates for parametric uncertainty in the mechanical subsystem while yielding global asymptotic link position tracking. The proposed controller does not require measurement of rotor flux; furthermore, the controller does not exhibit any singularities
Keywords
adaptive control; compensation; induction motor drives; manipulators; state feedback; adaptive partial-state feedback link position tracking controller; global adaptive link position tracking controller; induction motors; mechanical subsystem; parametric uncertainty; robot manipulators; Adaptive control; Control systems; Induction motors; Linear feedback control systems; Manipulator dynamics; Programmable control; Reluctance motors; Robot control; State feedback; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.478563
Filename
478563
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