| Summary: | 碩士 === 國立交通大學 === 電機與控制工程系 === 87 === In this thesis, we have made plainly delineation for the proposed nonlinear voltage
input controller for robot manipulators driven by induction motors in the existent
literature. And follow the same design procedure, simulated and experimental result
is then presented to illustrate the position tracking performance for the proposed
controller and system stability. Specially, we make complete representation for how
to setup the experimental hardware. Owing to the nonlinear controller is designed under
the assumption that exact model knowledge is known, say, without considering the effect
of system model parametric uncertainties. Then, we focused on the mechanical subsystem
parametric uncertainties and proposed novel rotor flux and stator current observer to
derive the adaptive, partial-state feedback, position tracking controller to compensate
the degraded performance caused by without considering the system model parametric uncertainties.
Through the use of systematic design approach backstepping and nonlinear damping
to guarantee boundedness of trajectories even when no upper bound on the uncertainties
is known. Under the mechanical subsystem parametric uncertainties, the proposed voltage input
controller only requires measurements of link position and stator winding currents. Finally,
we conclude a theorem to insure the controller stability and simulation results are presented to
illustrate the link position tracking error, and rotor flux and stator current estimated error
are asymptotically stable.
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