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TECHNICAL PAPERS

Decentralized Control of Rigid Robots Driven by Current-Fed Induction Motors

[+] Author and Article Information
Gerardo Guerrero-Ramı́rez

Electronic Engineering Department, CENIDET, Interior Internado Palmira S/N, Col. Palmira, CP 62490, Cuernavaca, Morelos, Méxicoe-mail: gerardog@cenidet.edu.mx

Yu Tang

Electric Engineering Department, DEPFI-UNAM, Circuito Exterior, Ciudad Universitaria, México, D.F., CP. 04510e-mail: tang@servidor.unam.mx

J. Dyn. Sys., Meas., Control 124(4), 549-553 (Dec 16, 2002) (5 pages) doi:10.1115/1.1513571 History: Received January 01, 2001; Revised March 01, 2002; Online December 16, 2002
Copyright © 2002 by ASME
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References

Canudas de Wit, C., Ortega, R., Seleme Jr., S. I., 1993, “Robot Motion Control Using Induction Motor Drives,” Proc. of IEEE ICRA, Atlanta, GA, pp. 533–538.
Hu,  J., Dawson,  D., and Qian,  Y., 1996, “Position Tracking Control for Robot Manipulators Driven by Induction Motors Without Flux Measurement,” IEEE Trans. Rob. Autom., 12, pp. 419–438.
Panteley,  E., and Ortega,  R., 1997, “Cascaded Control of Feedback Inter-Connected Nonlinear Systems: Application to Robots With AC Drives,” Automatica, 33, pp. 1835–1848.
Hu,  J., Dawson,  D., and Vedagarbha,  P., 1997, “Global Adaptive Link Position-Tracking Controller for Robot Manipulators Driven by Induction Motors,” IEEE Int. J. Sist. Sci., 28, pp. 625–642.
Tang, Y., and Guerrero, G., 1998, “Decentralized Robust Control of Robot Manipulators,” Proc. of IEEE ACC, Philadelphia, PA, pp. 922–926.
Bodson,  M., Chiasson,  J., and Novotnak,  R., 1994, “High-Performance Induction Motor Control via Input-Output Linearization,” IEEE Control Syst., 14, pp. 25–33.
Marino,  R., Peresada,  S., and Tomei,  P., 1996, “Output Feedback Control of Current-Fed Induction Motors With Unknown Rotor Resistance,” IEEE Trans. Control Syst. Technol., 4, pp. 336–347.
Marino,  R., Peresada,  S., and Tomei,  P., 1998, “Adaptive Output Feedback Control of Current-Fed Induction Motors With Uncertain Rotor Resistance and Load Torque,” Automatica, 34(5), pp. 617–624.
Kim,  K. C., Ortega,  R., Charara,  A., and Vilain,  J. P., 1997, “Theoretical and Experimental Comparison of Two Nonlinear Controllers for Current-Fed Induction Motors,” IEEE Trans. Control Syst. Technol., 5, pp. 338–348.
Tang,  Y., Tomizuka,  M., and Guerrero,  G., and Montemayor,  G., 2000, “Decentralized Robust Control of Mechanical Systems,” IEEE Trans. Autom. Control, 34, 771–776.
Spong, M., and Vidyasagar, M., 1989, Robot Dynamics and Control, John Wiley and Sons.
Leonhard, W., 1985, Control of Electrical Drives, Springer-Verlag, New York.

Figures

Grahic Jump Location
Position tracking error q̃k for Link 1 (left) and Link 2 (right).
Grahic Jump Location
Stator currents for Motor 1 (left) and Motor 2 (right).
Grahic Jump Location
Flux estimation and flux tracking errors for Motor 1 (left) and Motor 2 (right): F̃=F⁁−Fd (dashed line) and F−Fd (solid line).

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