A flexible gain error driven position controller for DC motor drives

Author

Sharaf, A.M. ; El-Khatib, R.A. ; Abu-Azab, S.I.

Author_Institution

Electr. Eng. Dept., United Arab Emirates Univ., Al-Ain, United Arab Emirates

Volume

2

fYear

1999

fDate

5-8 Sep 1999

Firstpage

981

Abstract

The paper presents a novel nonlinear hyper plane error-vector driven bang-bang position controller for permanent magnet PMDC motor drives. The flexible gain adjusting feature of the combined position/speed regulation loop ensures robust position control and good tracking of complex position trajectory references. The control scheme is suitable for large robotic arm manipulators and guided vehicles

Keywords

DC motor drives; automatic guided vehicles; bang-bang control; flexible manipulators; nonlinear control systems; permanent magnet motors; position control; robust control; DC motor drives; bang-bang position controller; complex position trajectory references; flexible gain error driven system; guided vehicles; large robotic arm manipulators; nonlinear hyper plane error-vector driven controller; permanent magnet motors; position controller; robust position control; tracking; DC motors; Error correction; Manipulators; Motor drives; Position control; Robots; Robust control; Tracking loops; Trajectory; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Circuits and Systems, 1999. Proceedings of ICECS '99. The 6th IEEE International Conference on

Conference_Location

Pafos

Print_ISBN

0-7803-5682-9

Type

conf

DOI

10.1109/ICECS.1999.813397

Filename

813397