TY - JOUR
T1 - Indirect field-oriented control of induction motors is globally asymptotically stable when used to regulate position in rigid robots
AU - Hernández-Guzmán, Victor M.
AU - Santibáñez, Victor
AU - Silva-Ortigoza, Ramón
N1 - Funding Information:
V. Santibáñez’s work was partially supported by DGEST. R. Silva-Ortigoza thanks Secretaría de Investigación y Posgrado del IPN (EDI and COFAA) for the financial support. All the authors thank SNI-México for their financial support.
PY - 2010/10
Y1 - 2010/10
N2 - In this note we prove, for the first time, that indirect field-oriented control of voltage-fed induction motors achieves global asymptotic stability when used to regulate position in rigid robots. This results in the simplest controller proposed until now to solve this problem. Our stability analysis considers inner current loops driven by linear PI controllers and an external position loop driven by a saturated PD controller.
AB - In this note we prove, for the first time, that indirect field-oriented control of voltage-fed induction motors achieves global asymptotic stability when used to regulate position in rigid robots. This results in the simplest controller proposed until now to solve this problem. Our stability analysis considers inner current loops driven by linear PI controllers and an external position loop driven by a saturated PD controller.
KW - Lyapunov stability
KW - indirect field-oriented control
KW - induction motors
KW - position regulation
KW - robot manipulators
UR - http://www.scopus.com/inward/record.url?scp=77957118505&partnerID=8YFLogxK
U2 - 10.1080/00207179.2010.510174
DO - 10.1080/00207179.2010.510174
M3 - Artículo
SN - 0020-7179
VL - 83
SP - 2153
EP - 2164
JO - International Journal of Control
JF - International Journal of Control
IS - 10
ER -