A Tracking Control of a Flexible-Robot Including the Dynamics of the Induction Motor as Actuator

A Tracking Control of a Flexible-Robot Including the Dynamics of the Induction Motor as Actuator

Common assumption in analysis of a flexible one-link robot is to take account of a DC motor as actuator. This work presents the design and stability analysis of a tracking controller of a flexible-robot including the dynamics of a 3-phase induction motor, despite of its high nonlinear dynamics, to d...

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Bibliographic Details
Main Authors: Felipe J. Torres, Juan P. Ramirez-Paredes, Mario A. Garcia-Murillo, Israel Martinez-Ramirez, Gustavo Capilla-Gonzalez, Victor A. Ramirez
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Flexible-robot
induction motor
Lyapunov stability
tracking control
parametric uncertainty
Online Access:https://ieeexplore.ieee.org/document/9447768/

Internet

https://ieeexplore.ieee.org/document/9447768/

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