DocumentCode :
1841083
Title :
A singularity-free position tracking controller for induction motors: theory and experiments
Author :
Hu, J. ; Dawson, D.M. ; Vedagarbha, P.
Author_Institution :
Dept. of Electr. Eng., Clemson Univ., SC, USA
fYear :
1995
fDate :
28-29 Sep 1995
Firstpage :
985
Lastpage :
990
Abstract :
In this paper, we present a voltage input controller for a single-link robot manipulator actuated by induction motor. The control is designed to compensate for the nonlinear dynamics associated with the mechanical subsystem and the electrical subsystems while only requiring measurements of rotor position, rotor velocity, and stator winding currents. Specifically, through the use of nonlinear observers for rotor flux and an observed integrator backstepping approach, we obtain semi-global uniform ultimately bounded position (SGUUB) tracking. The result is semi-global in the sense that a control parameter must be made sufficiently large relative to the electromechanical initial conditions in order to guarantee that control singularities are avoided. Experimental results are then presented to illustrate the performance of the proposed approach applied to a one-link robot
Keywords :
induction motors; compensation; control singularities; electrical subsystems; electromechanical initial conditions; induction motors; mechanical subsystem; nonlinear dynamics; nonlinear observers; observed integrator backstepping approach; one-link robot; rotor flux; rotor position; rotor velocity; semi-global uniform ultimately bounded position tracking; single-link robot manipulator; singularity-free position tracking controller; stator winding currents; voltage input controller; Current measurement; Electric variables measurement; Induction motors; Manipulator dynamics; Mechanical variables measurement; Position measurement; Robots; Rotors; Velocity control; Voltage control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 1995., Proceedings of the 4th IEEE Conference on
Conference_Location :
Albany, NY
Print_ISBN :
0-7803-2550-8
Type :
conf
DOI :
10.1109/CCA.1995.555889
Filename :
555889
Link To Document :
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