http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Adaptive Nonlinear Control of Induction Motor
Gerardo V. Guerrero Ramírez,Luis G. Vela Valdés,Manuel Adam Medina,Carlos D. García Beltrán,Cesar A. Villanueva López 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.1
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.
Robust Nonlinear Control of AC Brushless Motor for Electric Vehicles Application
Diego Langarica-Cordoba,Gerardo V. Guerrero-Ramirez,Abraham Claudio-Sanchez,Miguel A. Duran-Fonseca,Manuel Adam-Medina,Carlos-Manuel Astorga-Zaragoza 전력전자학회 2011 JOURNAL OF POWER ELECTRONICS Vol.11 No.4
This article proposes a robust nonlinear control based on Lyapunov’s redesign, whose purpose is to deal with parametric uncertainty in the resistance of the motor windings. The robust controller design is based on the passivity properties of the motor, as well as energy shaping and damping injection. The application of this control technique is focused on electric vehicles mainly formed by a battery bank, a power inverter, an AC brushless motor and the mechanical transmission. The sine PWM technique is used to trigger the switching devices of inverter. The results were obtained from simulation, where is shown that robust control makes a proper tracking of electromagnetic torque.
Robust Nonlinear Control of AC Brushless Motor for Electric Vehicles Application
Langarica-Cordoba, Diego,Guerrero-Ramirez, Gerardo V.,Claudio-Sanchez, Abraham,Duran-Fonseca, Miguel A.,Adam-Medina, Manuel,Astorga-Zaragoza, Carlos-Manuel The Korean Institute of Power Electronics 2011 JOURNAL OF POWER ELECTRONICS Vol.11 No.4
This article proposes a robust nonlinear control based on Lyapunov's redesign, whose purpose is to deal with parametric uncertainty in the resistance of the motor windings. The robust controller design is based on the passivity properties of the motor, as well as energy shaping and damping injection. The application of this control technique is focused on electric vehicles mainly formed by a battery bank, a power inverter, an AC brushless motor and the mechanical transmission. The sine PWM technique is used to trigger the switching devices of inverter. The results were obtained from simulation, where is shown that robust control makes a proper tracking of electromagnetic torque.
Robust GPI Control of a New Parallel Rehabilitation Robot of Lower Extremities
Héctor Azcaray,Andrés Blanco,Carlos García,Manuel Adam,Juan Reyes,Gerardo Guerrero,César Guzmán 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.5
In this paper, we propose a new robot for lower limbs rehabilitation by using a parallel structure. The goal of this robot is not only to produce smooth and precise motions for ankle, knee, and hip, but also to support trajectory tracking. Its parallel configuration was based on the four-bar mechanism in order to have a more stable and robust structure. For the kinematic analysis, the length of one bar was considered variable. For the dynamic analysis, the Euler-Lagrange method was used to define the equations of motion. For the robot control, the robust generalized proportional integral (GPI) controller was proposed to guarantee safe rehabilitation movements. This parallel robot not only showed good results, but also showed various movement possibilities for lower limbs rehabilitation.
A New Observer Design for Systems in Presence of Time-varying Delayed Output Measurements
Boubekeur Targui,Omar Hernández-González,Carlos-Manuel Astorga-Zaragoza,Gerardo-Vicente Guerrero-Ramírez,María-Eusebia Guerrero-Sánchez 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.1
This paper presents a state observer for linear systems and Lipschitz nonlinear systems with delayedoutput measurements, which are affected by a known and bounded time-varying delay. The structure of the proposedobserver is based on a proportional-integral term, which allows to compensate the time-varying delay. The observergain depends on the maximum bounded delay. This gain is computed by a Linear Matrix Inequality (LMI) approach. The observer exhibits good performance for state estimation of the system despite the presence of significantly longdelay. A Lyapunov-Krasovskii functional is used to prove the asymptotical convergence to zero of the observationerror. This observer is applied to the case of systems with time-varying delay whose dynamic is described by apiecewise differentiable function. Examples and numerical simulations are provided in order to support the validityof the main results.