The problem of controlling a rigid manipulator driven by induction motors to follow a desired trajectory using the decentralized control technique is considered in this paper. Parameter uncertainties of the rigid robot are considered. First, a PI controller is used to force an induction motor to work in the current-command mode, then based on a fourth-order reduced model of induction motors, a current controller is proposed using only local measurements of each link (link position, velocity and stator currents of the induction motor). The rotor flux is estimated through a closed-loop observer. Provided that the flux observer is properly initialized, this controller is singularity-free and guarantees the uniform ultimate stability of the closed-loop system. Simulations are presented to illustrate the performance of this controller.

Issue Section:
Technical Papers
Keywords:
manipulators, decentralised control, induction motors, uncertain systems, two-term control, electric current control, closed loop systems, observers, stability
Topics:
Control equipment, Electromagnetic induction, Errors, Manipulators, Motors, Robots, Stability, Stators, Currents, Simulation, Design, Closed loop systems
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 by ASME
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