The problem of controlling a rigid manipulator driven by induction motors to follow a desired trajectory using the decentralized control technique is considered in this paper. Parameter uncertainties of the rigid robot are considered. First, a PI controller is used to force an induction motor to work in the current-command mode, then based on a fourth-order reduced model of induction motors, a current controller is proposed using only local measurements of each link (link position, velocity and stator currents of the induction motor). The rotor flux is estimated through a closed-loop observer. Provided that the flux observer is properly initialized, this controller is singularity-free and guarantees the uniform ultimate stability of the closed-loop system. Simulations are presented to illustrate the performance of this controller.
Decentralized Control of Rigid Robots Driven by Current-Fed Induction Motors
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, January 2001; final revision, March 2002. Associate Editor: Y. Hurmuzlu.
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Guerrero-Ramı´rez, G., and Tang, Y. (December 16, 2002). "Decentralized Control of Rigid Robots Driven by Current-Fed Induction Motors ." ASME. J. Dyn. Sys., Meas., Control. December 2002; 124(4): 549–553. https://doi.org/10.1115/1.1513571
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