Indirect field-oriented control of induction motors is globally asymptotically stable when used to regulate position in rigid robots

Abstract

In this note we prove, for the first time, that indirect field-oriented control of voltage-fed induction motors achieves global asymptotic stability when used to regulate position in rigid robots. This results in the simplest controller proposed until now to solve this problem. Our stability analysis considers inner current loops driven by linear PI controllers and an external position loop driven by a saturated PD controller.

Keywords:

• position regulation
• robot manipulators
• induction motors
• Lyapunov stability
• indirect field-oriented control

Acknowledgements

V. Santibáñez's work was partially supported by DGEST. R. Silva-Ortigoza thanks Secretaría de Investigación y Posgrado del IPN (EDI and COFAA) for the financial support. All the authors thank SNI-México for their financial support.