Adaptive control of rigid-link electrically-driven robots actuated with switched reluctance motors

In this paper, we extend the previous work of Dawson et al. (1992, 1993) to design an adaptive controller for rigid-link electrically-driven (RLED) robot manipulators specifically actuated with switched reluctance (SR) motors. Specifically, the controller presented in the previous paper (1993) is redesigned from a robust algorithm to an adaptive algorithm in order to guarantee globally asymptotically stable link position tracking error. In particular, this paper fuses the designed commutation strategies with several newly developed modifications to the integrator backstepping technique to create a controller that guarantees the desired position tracking performance in spite of parametric uncertainty throughout the entire electro-mechanical model.

[1]  Zhihua Qu,et al.  Robust tracking of rigid-link flexible-joint electrically-driven robots , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[2]  Rogelio Lozano,et al.  Adaptive control of robot manipulators with flexible joints , 1992 .

[3]  Riccardo Marino,et al.  An extended direct scheme for robust adaptive nonlinear control , 1991, Autom..

[4]  S. Peresada,et al.  Feedback linearizing control of switched reluctance motors , 1987 .

[5]  Darren M. Dawson,et al.  Robust tracking control of a brushless DC motor with application to direct-drive robotics , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[6]  Zhihua Qu,et al.  Adaptive Tracking Control of a Switched Reluctance Motor Turning an Inertial Load , 1992 .

[7]  Ian Postlethwaite,et al.  Nonlinear Adaptive Control of Robots Including Motor Dynamics , 1993, 1993 American Control Conference.

[8]  P.V. Kokotovic,et al.  The joy of feedback: nonlinear and adaptive , 1992, IEEE Control Systems.

[9]  I. Kanellakopoulos,et al.  Adaptive nonlinear control without overparametrization , 1992 .

[10]  M. M. Bridges,et al.  Adaptive control of rigid-link electrically-driven robots actuated with brushless DC motors , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[11]  Roberto Horowitz,et al.  Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators , 1990, Int. J. Robotics Res..

[12]  Darren M. Dawson,et al.  Adaptive control of rigid-link electrically-driven robots , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[13]  I. Kanellakopoulos,et al.  Systematic Design of Adaptive Controllers for Feedback Linearizable Systems , 1991, 1991 American Control Conference.

[14]  David G. Taylor,et al.  Adaptive control design for a class of doubly-salient motors , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[15]  Zhihua Qu,et al.  Hybrid adaptive control for the tracking of rigid-link electrically-driven robots , 1994, Adv. Robotics.

[16]  D.G. Taylor,et al.  An experimental study on composite control of switched reluctance motors , 1991, IEEE Control Systems.

[17]  J. Slotine.  Putting physics in control-the example of robotics , 1988, IEEE Control Systems Magazine.

[18]  Petar V. Kokotovic,et al.  Systematic design of adaptive controllers for feedback linearizable systems , 1991 .

[19]  David G. Taylor,et al.  Composite control of direct-drive robots , 1989, Proceedings of the 28th IEEE Conference on Decision and Control,.