Adaptive nonlinear control of induction motor

• Published in: International journal of control, automation, and systems Vol. 9; no. 1; pp. 176 - 186
• Main Authors: Guerrero Ramírez, Gerardo V., Vela Valdés, Luis G., Medina, Manuel Adam, García Beltrán, Carlos D., Villanueva López, Cesar A.
• Format: Journal Article
• Language: English
• Published: Heidelberg Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.02.2011; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Adaptive control systems; Asymptotic methods; Asymptotic properties; Automation; Control; Control systems; Control theory; Controllers; Conversion; Design; Digital signal processors; Electrical equipment; Engineering; Induction motors; Mathematical analysis; Mechatronics; Motors; Nonlinearity; Robotics; Robots; Studies; Technical Notes and Correspondence; Trajectories; 제어계측공학; nonlinear systems; uncertainty; induction motor; Adaptive control
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-011-0123-5

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.