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Adaptive decentralized control of robot manipulators driven by current-fed induction motors

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2 Author(s)
Su-Hau Hsu ; Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan ; Li-Chen Fu

In this paper, an adaptive decentralized control scheme with a rotor-flux observer is proposed for the tracking control of robot manipulators actuated by current-fed induction motors. To cope with all parametric uncertainties in the electromechanical systems, an adaptive law is designed so that all the signals of closed-loop systems are bounded, and the tracking errors in position, velocity and rotor fluxes converge to a residual set.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:10 ,  Issue: 4 )