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Adaptive nonlinear control of induction motor

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Abstract

This work addresses the problem of controlling a rigid arm (one degree of freedom robot manipulator) directly driven by an induction motor. A Lyapunov-based adaptive nonlinear controller is designed. The developed controller compensates for parametric uncertainty associated with the resistance of the rotor windings and it is capable to track asymptotically a trajectory for an angular position keeping all the internal signals bounded and guarantees the asymptotical stability of the system. Simulations are presented to illustrate the performance of this controller.

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Author information

Authors and Affiliations

  1. Centro Nacional de Investigación y Desarrollo Tecnológico (Cenidet), Interior Internado Palmira S/N, Col. Palmira, CP. 62490, Cuernavaca, Mexico

    Gerardo V. Guerrero Ramírez, Luis G. Vela Valdés, Manuel Adam Medina & Carlos D. García Beltrán

  2. Departamento de Ingeniería Mecatrónica, Facultad de Ingeniería de la Universidad Autónoma de Yucatán, Mexico, Mexico

    Cesar A. Villanueva López

Authors
  1. Gerardo V. Guerrero Ramírez
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  2. Luis G. Vela Valdés
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  3. Manuel Adam Medina
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  4. Carlos D. García Beltrán
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  5. Cesar A. Villanueva López
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Corresponding author

Correspondence to Manuel Adam Medina.

Additional information

Recommended by Editorial Board member Guang-Hong Yang under the direction of Editor Young Il Lee.

Gerardo V. Guerrero Ramírez was born in Oaxaca, México. He received his professional diploma in Electrical Engineering from the Instituto Tecnológico de Morelia, México, in 1985, and an M.Sc. degree in Electronic Engineering from the Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET), Cuernavaca, Morelos, México, in 1994, and a Ph.D. degree in Engineering from the Universidad Nacional Autónoma de México (UNAM), México, in 2001. He is currently professor of department of electronic engineering at the Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET).

Luís G. Vela Valdés received Industrial Engineer in Electronics (1986), Master of Science in Electrical Engineering (1989), both by the La Laguna Institute of Technology, and Doctor by the Université Henri Poincaré, Nanci I, France (1998). He holds a Professor-Researcher position at the National Research and Development Centre in the Electronics Department. His areas of research include control and diagnosis of electrical machines, robotics and adaptive control.

Manuel Adam Medina was born in Minatitlán, Ver., México. He received his professional diploma in Electronic Engineering of Intrumentation from the Instituto Tecnológico de Minatitlán, México, in 1991, an M.Sc. degree in Electronic Engineering from the Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET), Cuernavaca, Morelos, México, in 1995, and a Ph.D. degree in Engineering from the Université Henri Poincaré, Nancy I, France, in 2004. He is currently professor of department of electronic engineering at the Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET).

Carlos D. García Beltrán was born in San Luis Potosí, México. He received his professional diploma in Electronics Engineering from the San Luis Potosí University, México, in 1992, an M.Sc. degree in Electronic Engineering from the Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET), Cuernavaca, Morelos, México, in 1997, and a Ph.D. degree in Engineering from the INPG, France, in 2004. He is currently professor of department of electronic engineering at the Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET).

César A. Villanueva López was born in Mexico City, México. He received his professional diploma in Electronic Engineering from Instituto Tecnológico de Mérida, México in 2001, and his M.Sc. degree in Electronic Engineering from the Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET), Cuernavaca, Morelos, México, in 2007. He is currently a professor of Departament of Mechatronic Engineering at Facultad de Ingeniería de la Universidad Autónoma de Yucatán.

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Guerrero Ramírez, G.V., Vela Valdés, L.G., Medina, M.A. et al. Adaptive nonlinear control of induction motor. Int. J. Control Autom. Syst. 9, 176–186 (2011). https://doi.org/10.1007/s12555-011-0123-5

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  • DOI: https://doi.org/10.1007/s12555-011-0123-5

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