Technical Notes and Correspondence
International Journal of Control, Automation and Systems 2011; 9(1): 176-186
Published online February 12, 2011
https://doi.org/10.1007/s12555-011-0123-5
© The International Journal of Control, Automation, and Systems
Adaptive Nonlinear Control of Induction Motor
This work addresses the problem of controlling a rigid arm (one degree of freedom robot manipulator) directly driven by an induction motor. A Lyapunov-based adaptive nonlinear controller is designed. The developed controller compensates for parametric uncertainty associated with the resistance of the rotor windings and it is capable to track asymptotically a trajectory for an angular position keeping all the internal signals bounded and guarantees the asymptotical stability of the system. Simulations are presented to illustrate the performance of this controller.
Keywords Adaptive control, induction motor, nonlinear systems, uncertainty.
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Technical Notes and Correspondence
International Journal of Control, Automation and Systems 2011; 9(1): 176-186
Published online February 1, 2011 https://doi.org/10.1007/s12555-011-0123-5
Copyright © The International Journal of Control, Automation, and Systems.
Adaptive Nonlinear Control of Induction Motor
Gerardo V. Guerrero Ramírez, Luis G. Vela Valdés, Manuel Adam Medina,Carlos D. García Beltrán, and Cesar A. Villanueva López
Cenidet, Mexico
Abstract
This work addresses the problem of controlling a rigid arm (one degree of freedom robot manipulator) directly driven by an induction motor. A Lyapunov-based adaptive nonlinear controller is designed. The developed controller compensates for parametric uncertainty associated with the resistance of the rotor windings and it is capable to track asymptotically a trajectory for an angular position keeping all the internal signals bounded and guarantees the asymptotical stability of the system. Simulations are presented to illustrate the performance of this controller.
Keywords: Adaptive control, induction motor, nonlinear systems, uncertainty.
Vol. 22, No. 9, pp. 2673~2953
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