PID Control of Robot Manipulators Equipped with SRMs

Victor Manuel Hernández-Guzmán; Ramón Silva-Ortigoza; Jorge Alberto Orrante-Sakanassi

doi:10.1007/978-3-030-58786-4_12

PID Control of Robot Manipulators Equipped with SRMs

Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza, Jorge Alberto Orrante-Sakanassi

Centro de Innovación y Desarrollo Tecnológico en Cómputo (CIDETEC)

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

We extend the results in chapter 6 to position regulation in rigid robots equipped with direct-drive switched reluctance motors. We consider hysteresis controllers for electric current and we consider the saturated motor model. The complete stability proof is included in this chapter.

Original language	English
Title of host publication	Advances in Industrial Control
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	489-510
Number of pages	22
DOIs	https://doi.org/10.1007/978-3-030-58786-4_12
State	Published - 2021

Publication series

Name	Advances in Industrial Control
ISSN (Print)	1430-9491
ISSN (Electronic)	2193-1577

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10.1007/978-3-030-58786-4_12

Cite this

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title = "PID Control of Robot Manipulators Equipped with SRMs",

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PID Control of Robot Manipulators Equipped with SRMs. / Hernández-Guzmán, Victor Manuel; Silva-Ortigoza, Ramón; Orrante-Sakanassi, Jorge Alberto.
Advances in Industrial Control. Springer Science and Business Media Deutschland GmbH, 2021. p. 489-510 (Advances in Industrial Control).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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PID Control of Robot Manipulators Equipped with SRMs

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