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.
Skip Nav Destination
Article navigation
December 2002
Technical Papers
Decentralized Control of Rigid Robots Driven by Current-Fed Induction Motors
Gerardo Guerrero-Ramı´rez,
Gerardo Guerrero-Ramı´rez
Electronic Engineering Department, CENIDET, Interior Internado Palmira S/N, Col. Palmira, CP 62490, Cuernavaca, Morelos, Me´xico
**
Search for other works by this author on:
Yu Tang
Yu Tang
Electric Engineering Department, DEPFI-UNAM, Circuito Exterior, Ciudad Universitaria, Me´xico, D.F., CP. 04510
††
Search for other works by this author on:
Gerardo Guerrero-Ramı´rez
**
Electronic Engineering Department, CENIDET, Interior Internado Palmira S/N, Col. Palmira, CP 62490, Cuernavaca, Morelos, Me´xico
Yu Tang
††
Electric Engineering Department, DEPFI-UNAM, Circuito Exterior, Ciudad Universitaria, Me´xico, D.F., CP. 04510
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, January 2001; final revision, March 2002. Associate Editor: Y. Hurmuzlu.
J. Dyn. Sys., Meas., Control. Dec 2002, 124(4): 549-553 (5 pages)
Published Online: December 16, 2002
Article history
Received:
January 1, 2001
Revised:
March 1, 2002
Online:
December 16, 2002
Citation
Guerrero-Ramı´rez, G., and Tang, Y. (December 16, 2002). "Decentralized Control of Rigid Robots Driven by Current-Fed Induction Motors ." ASME. J. Dyn. Sys., Meas., Control. December 2002; 124(4): 549–553. https://doi.org/10.1115/1.1513571
Download citation file:
Get Email Alerts
Cited By
An Adaptive Sliding-Mode Observer-Based Fuzzy PI Control Method for Temperature Control of Laser Soldering Process
J. Dyn. Sys., Meas., Control
Fault detection of automotive engine system based on Canonical Variate Analysis combined with Bhattacharyya Distance
J. Dyn. Sys., Meas., Control
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control (July 2025)
Related Articles
A Robustly Stable Multiestimation-Based Adaptive Control Scheme for Robotic Manipulators
J. Dyn. Sys., Meas., Control (June,2006)
Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments
J. Dyn. Sys., Meas., Control (September,2005)
Probabilistic Control for Uncertain Systems
J. Dyn. Sys., Meas., Control (March,2012)
A Comment on Stability of Telerobotic Manipulations
J. Dyn. Sys., Meas., Control (December,2002)
Related Proceedings Papers
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Fault-Tolerant Control of Sensors and Actuators Applied to Wind Energy Systems
Electrical and Mechanical Fault Diagnosis in Wind Energy Conversion Systems
Stable Analysis on Speed Adaptive Observer in Low Speed Operation
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)