Adaptive control of rigid-link electrically-driven robots actuated with switched reluctance motors

Abstract

In this paper, we extend the previous work of Dawson et al. (1992, 1993) to design an adaptive controller for rigid-link electrically-driven (RLED) robot manipulators specifically actuated with switched reluctance (SR) motors. Specifically, the controller presented in the previous paper (1993) is redesigned from a robust algorithm to an adaptive algorithm in order to guarantee globally asymptotically stable link position tracking error. In particular, this paper fuses the designed commutation strategies with several newly developed modifications to the integrator backstepping technique to create a controller that guarantees the desired position tracking performance in spite of parametric uncertainty throughout the entire electro-mechanical model.