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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.