Abstract
In this paper, we consider the problem of designing an exact model knowledge, partial state feedback (i.e., measurements of link position and electrical current only) controller for a rigid-link electrically-driven (RLED) robot manipulator actuated by switched-reluctance motors (SRM). The voltage-level controller utilizes a model-based observer to estimate link velocity and is designed using the observed integrator backstepping approach. The proposed controller achieves semi-global exponential link position-velocity tracking. A simulation study for a two-link planar robot is included. Preliminary experimental results are also given for one link of the IMI direct drive robot.
| Original language | English |
|---|---|
| Pages | 916-921 |
| Number of pages | 6 |
| State | Published - 1995 |
| Externally published | Yes |
| Event | Proceedings of the 1995 IEEE Conference on Control Applications - Albany, NY, USA Duration: Sep 28 1995 → Sep 29 1995 |
Conference
| Conference | Proceedings of the 1995 IEEE Conference on Control Applications |
|---|---|
| City | Albany, NY, USA |
| Period | 09/28/95 → 09/29/95 |
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