PD control for robot manipulators actuated by switched reluctance motors

References

• Bridges , M and Dawson , D . 1995 . Adaptive Control of Rigid-link Electrically-driven Robots Actuated with Switched Reluctance Motors . Proceedings of the American Control Conference . 1995 . pp. 1392 – 1396 . Seattle , , WA
   Google Scholar
• Campa , R , Kelly , R and Santibáñez , V . 2004 . Windows-based Real-time Control of Direct-drive Mechanisms: Platform Description and Experiments . Mechatronics , 14 : 1021 – 1036 . doi: 10.1016/j.mechatronics.2004.04.004
   Web of Science ®Google Scholar
• Campa, R., Torres, E., Santibáñez, V., and Vargas, R. (2005), ‘Electromechanical Dynamics Characterisation of Brushless Direct-drive Servomotor’, in Proceedings of the VII Mexican Congress on Robotics, COMROb 2005, México, D.F
   Google Scholar
• De Queiroz , MS , Burg , T , Dawson , D and Donepudi , S . 1995 . A Partial State Feedback Controller for SRM-RLED Robot Manipulators: Preliminary Experimental Validation . Proceedings of the IEEE Conference on Control Applications . 1995 . pp. 916 – 921 . Albany , , NY
   Google Scholar
• Espinosa-Pérez , G , Maya-Ortiz , P , Velasco-Villa , M and Sira-Ramírez , H . 2004 . Passivity-based Control of Switched Reluctance Motors with Nonlinear Magnetic Circuits . IEEE Transactions on Control Systems Technology , 12 : 439 – 448 . doi: 10.1109/TCST.2004.824345
   Web of Science ®Google Scholar
• Hernández , VM , Santibáñez , V , Carrillo , RV , Molina , J and López , JJ . 2008 . PD Control of Robots: Actuator Dynamics and a New Tuning Procedure . Revista Iberoamericana de Automática e Informática Industrial , 5 : 62 – 68 . (in Spanish) doi: 10.1016/S1697-7912(08)70178-X
   Web of Science ®Google Scholar
• Hernández-Guzmán , VM , Santibáñez , V and Zavala-Río , A . 2010 . A Saturated PD Controller for Robots Equipped with Brushless DC-motors . Robotica , 28 : 405 – 411 . doi: 10.1017/S0263574709005724
   Web of Science ®Google Scholar
• Hernández-Guzmán , VM and Silva-Ortigoza , R . 2011 . Improving Performance of Saturation-based PID Controllers for Rigid Robots . Asian Journal of Control , 13 : 295 – 303 . doi: 10.1002/asjc.282
   Web of Science ®Google Scholar
• Ilic'-Spong , M , Marino , R , Peresada , S and Taylor , D . 1987 . Feedback Linearising Control of Switched Reluctance Motors . IEEE Transactions on Automatic Control , 32 : 371 – 379 . doi: 10.1109/TAC.1987.1104616
   Web of Science ®Google Scholar
• Kelly , R . 1995 . A Tuning Procedure for Stable PID Control of Robot Manipulators . Robotica , 13 : 141 – 148 . doi: 10.1017/S0263574700017641
   Web of Science ®Google Scholar
• Kelly , R . 1998 . Global Positioning for Robot Manipulators via PD Control Plus a Class of Nonlinear Integral Actions . IEEE Transactions on Automatic Control , 43 : 934 – 938 . doi: 10.1109/9.701091
   Web of Science ®Google Scholar
• Kelly , R , Santibáñez , V and Loría , A . 2005 . Control of Robot Manipulators in Joint Space , London : Springer .
   Google Scholar
• Khalil , H . 2002 . Nonlinear Systems , Upper Saddle River : Prentice Hall .
   Google Scholar
• Koditschek , D . 1984 . Natural Motion for Robot Arms . IEEE Conference on Decision and Control . 1984 . pp. 733 – 735 . Las Vegas , , NV
   Google Scholar
• Parker Automation (1998), Compumotor's Virtual Classroom, Position Systems and Controls, Training and Product Catalog, CD-ROM 1998
   Google Scholar
• Petrovic , V , Ortega , R and Stankovic , AM . 2001 . Interconnection and Damping Assignment Approch to Control of PM Synchronous Motors . IEEE Transactions on Control Systems Technology , 9 : 811 – 820 . doi: 10.1109/87.960344
   Web of Science ®Google Scholar
• Taylor , D . 1992 . Pulse-width Modulated Control of Electromechanical Systems . IEEE Transactions on Automatic Control , 37 : 524 – 528 . doi: 10.1109/9.126591
   Web of Science ®Google Scholar
• Wallace , R and Taylor , D . 1991 . Low-torque-ripple Switched Reluctance Motors for Direct-drive Robotics . IEEE Transactions on Robotics and Automation , 7 : 733 – 742 . doi: 10.1109/70.105382
   Google Scholar
• Zavala-Río , A and Santibáñez , V . 2007 . A Natural Saturating Extension of the PD-with-desired-gravity-compensation Control Law for Robot Manipulators with Bounded Inputs . IEEE Transactions on Robotics , 23 : 386 – 391 . doi: 10.1109/TRO.2007.892224
   Web of Science ®Google Scholar