A global adaptive link position-tracking controller for robot manipulators driven by induction motors
International Journal of Systems Science, cilt.28, sa.7, ss.625-642, 1997 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 28 Sayı: 7
- Basım Tarihi: 1997
- Doi Numarası: 10.1080/00207729708929424
- Dergi Adı: International Journal of Systems Science
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Sayfa Sayıları: ss.625-642
- Ankara Yıldırım Beyazıt Üniversitesi Adresli: Hayır
Özet
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 rotor flux; furthermore, the controller does not exhibit any singularities. Preliminary experimental and simulation results are provided to illustrate the effectiveness of the proposed controller. © 1997 Taylor & Francis Group, LLC.