Cascaded control of feedback interconnected nonlinear systems: Application to robots with AC drives

DOI10.1016/S0005-1098(97)00112-XzbMath0914.93027OpenAlexW2079483694MaRDI QIDQ1129701

Elena Panteley, Romeo S. Ortega

Publication date: 7 June 1999

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(97)00112-x

zbMATH Keywords

automated systemsnonlinearoutput feedbackglobal trackingrobot manipulatorscascaded systemsrobotsEuler-Lagrange system

Mathematics Subject Classification ID

Feedback control (93B52) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) General systems theory (93A99)

Related Items (15)

Adaptive learning control design for robotic manipulators driven by permanent magnet synchronous motors ⋮ Robust output feedback learning control for induction motor servo drives ⋮ Necessary and sufficient conditions for uniform semiglobal practical asymptotic stability: application to cascaded systems ⋮ Cascaded control of feedback interconnected nonlinear systems: Application to robots with AC drives ⋮ Reduction theorems for stability of compact sets in time-varying systems ⋮ Decentralized inverse optimal control for interconnected systems ⋮ Uniform semiglobal practical asymptotic stability for non-autonomous cascaded systems and applications ⋮ Robustness of PID-controlled manipulators \textit{vis-à-vis} actuator dynamics and external disturbances ⋮ Growth rate conditions for uniform asymptotic stability of cascaded time-varying systems ⋮ Learning control for induction motor servo drives with uncertain rotor resistance ⋮ Indirect field-oriented control of induction motors is globally asymptotically stable when used to regulate position in rigid robots ⋮ Cascaded nonlinear predictive control of induction motor ⋮ Uniform global practical asymptotic stability for time-varying cascaded systems ⋮ A comparative study on the identification of the dynamical model of multi-mass electrical drives using wavelet transforms ⋮ Global uniform asymptotic stability of cascaded non-autonomous nonlinear systems: Application to stabilisation of a Diesel engine.

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Adaptive motion control of rigid robots: A tutorial
• Cascaded control of feedback interconnected nonlinear systems: Application to robots with AC drives
• Adaptive nonlinear control without overparametrization
• Design of `softer' robust nonlinear control laws
• State observers are unnecessary for induction motor control
• On speed control of induction motors
• L\(_2\)-gain and passivity techniques in nonlinear control
• Adaptive control of linearizable systems
• A New Feedback Method for Dynamic Control of Manipulators
• A global adaptive link position-tracking controller for robot manipulators driven by induction motors
• Correction to "Passitivity-based control of a class of blondel-park transformable electric machines"
• Smooth stabilization implies coprime factorization
• Global internal stabilizability does not imply global external stabilizability for small sensor disturbances
• Global Stabilization of Partially Linear Composite Systems

This page was built for publication: Cascaded control of feedback interconnected nonlinear systems: Application to robots with AC drives