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

Hu J., Dawson D., Vedagarbha P., CANBOLAT H.

International Journal of Systems Science, vol.28, no.7, pp.625-642, 1997 (Journal Indexed in SCI Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 28 Issue: 7
  • Publication Date: 1997
  • Doi Number: 10.1080/00207729708929424
  • Title of Journal : International Journal of Systems Science
  • Page Numbers: pp.625-642


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.