A global adaptive link position-tracking controller for robot manipulators driven by induction motors

被引：3
|
作者：
Hu, J
Dawson, DM
Vedagarbha, P
Canbolat, H
机构：
[1] Department of Electrical and Computer Engineering, Center for Advanced Manufacturing, Clemson University, Clemson, SC
来源：
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 1997年 / 28卷 / 07期
关键词：
D O I：
10.1080/00207729708929424
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present an adaptive, partial-state feedback, link position tracking controller for robot manipulators driven by induction motors. The proposed controller compensates for parametric uncertainty in the mechanical subsystem while yielding global asymptotic link position tracking. The proposed controller does not require measurement of voter flux; furthermore, the controller does not exhibit any singularities. Preliminary experimental and simulation results are provided to illustrate the effectiveness of the proposed controller.
引用
收藏
页码：625 / 642
页数：18
相关论文
共 50 条
  • [21] Global adaptive output feedback tracking control of robot manipulators
    Zhang, F
    Dawson, DM
    de Queiroz, MS
    Dixon, WE
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2000, 45 (06) : 1203 - 1208
  • [22] Global asymptotic stability of a tracking sectorial fuzzy controller for robot manipulators
    Santibañez, V
    Kelly, R
    Llama, MA
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2004, 34 (01): : 710 - 718
  • [23] An adaptive controller dominant-type hybrid adaptive and learning controller for trajectory tracking of robot manipulators
    System Design Engineering, Graduate School of Engineering, University of Fukui, Bunkyo 3-9-1, Fukui, Fukui 910-8507, Japan
    不详
    Adv Rob, 1-2 (45-61):
  • [24] An Adaptive Controller Dominant-Type Hybrid Adaptive and Learning Controller for Trajectory Tracking of Robot Manipulators
    Munadi
    Naniwa, Tomohide
    ADVANCED ROBOTICS, 2012, 26 (1-2) : 45 - 61
  • [25] Synchronization control for robot manipulators driven by induction motors with flux and velocity observers
    Torres, Felipe-de-Jesus
    Guerrero, Gerardo-Vicente
    Garcia, Carlos-Daniel
    Nunez, Diego-Alfredo
    Mota, Juan
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2019, 41 (16) : 4535 - 4544
  • [26] An Advanced Terminal Sliding Mode Controller for Robot Manipulators in Position Tracking Problem
    Anh Tuan Vo
    Thanh Nguyen Truong
    Kang, Hee-Jun
    Tien Dung Le
    INTELLIGENT COMPUTING METHODOLOGIES, PT III, 2022, 13395 : 518 - 528
  • [27] An exponentially stable adaptive control for force and position tracking of robot manipulators
    Villani, L
    de Wit, CC
    Brogliato, B
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1999, 44 (04) : 798 - 802
  • [28] DESIGN OF AN ADAPTIVE FUZZY ESTIMATOR FOR FORCE/POSITION TRACKING IN ROBOT MANIPULATORS
    Naghsh, A.
    Sheikholeslam, F.
    Danesh, M.
    IRANIAN JOURNAL OF FUZZY SYSTEMS, 2014, 11 (01): : 75 - 89
  • [29] Position-Tracking Controller for Two-Wheeled Balancing Robot Applications Using Invariant Dynamic Surface
    Kim, Seok-Kyoon
    Ahn, Choon Ki
    Agarwal, Ramesh K.
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2021, 51 (02): : 705 - 711
  • [30] Adaptive H∞ neural network tracking controller for electrically driven manipulators
    Hwang, MC
    Hu, X
    Shrivastava, Y
    IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, 1998, 145 (06): : 594 - 602
12345