Title :
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
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;
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
DOI :
10.1109/ICECS.1999.813397
