TY - JOUR
T1 - PD control for robot manipulators actuated by switched reluctance motors
AU - Hernández-Guzmán, Victor M.
AU - Carrillo-Serrano, Roberto V.
AU - Silva-Ortigoza, Ramón
N1 - Funding Information:
V.M. Hernández and R. Silva-Ortigoza thank SNI-México for financial support. V.M. Hernández thanks J. Orrante-Sakanassi from Instituto Tecnológico de la Laguna, México, for the section of the proof between (48) and (51). R. Silva-Ortigoza also thanks financial support from SIP, EDI and COFAA, all of them programs of Instituto Politecnico Nacional, México. R.V. Carrillo-Serrano work was supported by CONACYT, México.
PY - 2013/3/1
Y1 - 2013/3/1
N2 - This article is concerned with position regulation in direct-drive n degrees of freedom rigid robots equipped only with revolute joints when actuated by switched reluctance motors. Our controller represents an extension to this case of a previous work in the literature which was proposed for a single-switched reluctance motor when moving a simple linear mechanical load. We show how to avoid a singularity present in such a previous controller. We also introduce some simplifications since the number of terms to be fedback is smaller. Further, a linear proportional inner electric current loop is included instead of a velocity dependent one.
AB - This article is concerned with position regulation in direct-drive n degrees of freedom rigid robots equipped only with revolute joints when actuated by switched reluctance motors. Our controller represents an extension to this case of a previous work in the literature which was proposed for a single-switched reluctance motor when moving a simple linear mechanical load. We show how to avoid a singularity present in such a previous controller. We also introduce some simplifications since the number of terms to be fedback is smaller. Further, a linear proportional inner electric current loop is included instead of a velocity dependent one.
KW - Actuator dynamics
KW - Lyapunov stability
KW - Position regulation
KW - Robot manipulators
KW - Switched reluctance motors
UR - http://www.scopus.com/inward/record.url?scp=84874111208&partnerID=8YFLogxK
U2 - 10.1080/00207179.2012.747702
DO - 10.1080/00207179.2012.747702
M3 - Artículo
SN - 0020-7179
VL - 86
SP - 540
EP - 554
JO - International Journal of Control
JF - International Journal of Control
IS - 3
ER -