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
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;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478563
