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
Published in:IEEE access 2021, Vol.9, p.82373-82379
Main Authors: Torres, Felipe J., Ramirez-Paredes, Juan P., Garcia-Murillo, Mario A., Martinez-Ramirez, Israel, Capilla-Gonzalez, Gustavo, Ramirez, Victor A.
Format: Article
Language:English
Subjects:
Actuators
Control stability
Control theory
D C motors
Dynamic models
Dynamic stability
Electric motors
Equations of motion
Flexible-robot
induction motor
Induction motors
Lyapunov stability
Manipulator dynamics
Manipulators
Mathematical model
Nonlinear dynamics
Parameter uncertainty
parametric uncertainty
Robot control
Robots
Stability analysis
Stability criteria
Torque
Tracking control
Tracking errors
Trajectory
Trajectory control
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Summary: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 drive the joint of the one-link arm. In this manner, the dynamic model of a joint-flexible-robot is combined with the induction motor model to build the motion equations. A control law is proposed for the flexible one-arm robot to track a desired trajectory, thus, this control input is used like the reference torque for the induction motor control. A stability analysis by Lyapunov criterion is detailed to demonstrate the tracking errors are globally exponentially stable. Simulations show the effectiveness of the proposed approach even when the one-link arm is subjected to uncertainty in parameters and external disturbances.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2021.3086813