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

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.

Article

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.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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