An adaptive high-precision tracking controller for the coupled switched reluctance two-finger gripper

Automatic finger grippers play an important role in modern industry and become an alternative for human kind in hazardous fields such as product manufacturing, material handing and post-disaster rescues, etc. Therefore low-cost, stable finger grippers based motion control systems should be developed with high reliability and good static performance. The switched reluctance (SR) motors have drawn researchers´attention, owing to its simple control circuits, robustness and low-cost structure. However, the proposed SR gripper exhibits inherent nonlinear characteristics and there is severe coupling between the shared magnetic paths and the spring pulling the grippers acts as a variable load to the control system. The proportional integral differential (PID) controller is not capable of decoupling and precise tracking for the two grippers working at the same time. With online system identification, the parameters of the plant model can be obtained in real time. The adaptive controller based on pole placement is applied for real time compensation of system uncertainties and external disturbances.