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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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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