Title :
Hybrid adaptive tracking control of rigid-link electrically driven robots actuated by switched reluctance motors
Author :
Leviner, M.D. ; Dawson, D.M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
The controller is hybrid in the sense that an adaptive controller is used to compensate for parametric uncertainties within the nonlinear model of the manipulator while an adaptive robust controller corrects for the typically ignored electrical actuator dynamics. That is, in spite of parametric uncertainty throughout the entire electromechanical system dynamics and additive bounded electrical disturbances, it is still possible to ensure a global uniform asymptotic stability (GUAS) result for the link position tracking error
Keywords :
adaptive control; asymptotic stability; closed loop systems; control nonlinearities; manipulator dynamics; position control; reluctance motor drives; robust control; tracking; adaptive robust controller; additive bounded electrical disturbances; electromechanical system dynamics; global uniform asymptotic stability; link position tracking error; manipulator; nonlinear model; parametric uncertainties; rigid-link electrically driven robots; switched reluctance motors; Actuators; Adaptive control; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Programmable control; Reluctance motors; Robots; Strontium; Uncertainty;
Conference_Titel :
System Theory, 1993. Proceedings SSST '93., Twenty-Fifth Southeastern Symposium on
Conference_Location :
Tuscaloosa, AL
Print_ISBN :
0-8186-3560-6
DOI :
10.1109/SSST.1993.522741
