Abstract
Proposes a nonlinear observer-based controller for induction motors. Via the use of the skew-symmetrical property of induction motors, a two-stage design technique is applied to construct an observer-based controller for velocity and position tracking control. To demonstrate the effectiveness of the proposed scheme, the scheme is applied to the tracking control of robot manipulators. Simulation results have verified the effective performance of the controller. To implement the proposed scheme for experiment, a voltage-control type of drive system has been set up, which employs two personal computers, PC 486 and PC 286. One is adopted to perform the calculation of the control law and the other is to perform the function of pulse width modulation (PWM) and the generation of gating pulses. Satisfactory experimental studies are also shown in this paper.
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