Robust tracking control of a robot arm actuated by permanent magnet synchronous motors

被引：2

作者：

Borisov, Oleg ^{[1
]}

Isidori, Alberto ^{[2
]}

Kakanov, Mikhail ^{[1
]}

Pyrkin, Anton ^{[1
]}

机构：

[1] ITMO Univ, Fac Control Syst & Robot, St Petersburg, Russia

[2] Univ Roma La Sapienza, Dept Comp Control & Management Engn A Ruberti, Rome, Italy

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2022年 / 32卷 / 18期

关键词：

high-gain observers; practical tracking; robot arms; robust control; DRIVEN; DESIGN;

D O I：

10.1002/rnc.6366

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, we show the use of the recently developed enhanced extended observer design technique in tracking time-dependent references by a PMSM-actuated robot arm. It is proven that this robust control framework guarantees achievement of semiglobal practical stability and makes trajectories of the system arbitrarily close to those that would had been obtained by the non-robust nominal feedback-linearizing control if there were no plant uncertainties.

引用

页码：10358 / 10373

页数：16

共 50 条

[31] Observer-based Robust Control: Its Application to Permanent Magnet Synchronous Motors
Jeong, Yong Woo
Chung, Chung Choo
IEEJ JOURNAL OF INDUSTRY APPLICATIONS, 2023, 12 (04) : 575 - 587
[32] Artificial neural network based robust speed control of permanent magnet synchronous motors
Pajchrowski, T
Urbanski, K
Zawirski, K
COMPEL-THE INTERNATIONAL JOURNAL FOR COMPUTATION AND MATHEMATICS IN ELECTRICAL AND ELECTRONIC ENGINEERING, 2006, 25 (01) : 220 - 234
[33] The Research of Adaptive Robust Predictive Current Control Algorithm of Permanent Magnet Synchronous Motors
Lin, Lian-Dong
Han, Xue-Bing
ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY III, PTS 1-4, 2013, 397-400 : 1099 - +
[34] Novel robust control with disturbance rejection for permanent magnet synchronous motors and experimental validation
Wang, Zheng
Zhen, Shengchao
Huang, Qiong
Liu, Xiaoli
Chen, Ke
Chen, Ye-Hwa
Gao, Liansheng
Feng, Zailin
REVIEW OF SCIENTIFIC INSTRUMENTS, 2025, 96 (01):
[35] Chaos characteristics and control of permanent magnet synchronous motors
Xue Wei
Guo Yanling
Li Yongli
MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION, PTS 1 AND 2, 2011, 48-49 : 292 - +
[36] Vector control of permanent-magnet synchronous motors
Voronin S.G.
Kurnosov D.A.
Kul'Mukhametova A.S.
Russian Electrical Engineering, 2013, 84 (10) : 581 - 585
[37] Fuzzy impulsive control of permanent magnet synchronous motors
College of Mathematics and Physics Science, Chongqing University, Chongqing 400030, China
不详
不详
不详
Chin. Phys. Lett., 2008, 2 (401-404):
[38] Reset control of Synchronous Motors with permanent magnet excitation
Delgado, Emma
Diaz-Cacho, Miguel
Banos, Alfonso
Barreiro, Antonio
2014 22ND MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2014, : 1347 - 1352
[39] Fuzzy impulsive control of permanent magnet synchronous motors
Li Dong
Wang Shi-Long
Zhang Xiao-Hong
Yang Dan
Wang Hui
CHINESE PHYSICS LETTERS, 2008, 25 (02) : 401 - 404
[40] Chaos analysis and control of permanent magnet synchronous motors
Xue, Wei
Guo, Yanling
ADVANCED RESEARCH ON INFORMATION SCIENCE, AUTOMATION AND MATERIAL SYSTEM, PTS 1-6, 2011, 219-220 : 88 - 92

← 1 2 3 4 5 →