Synchronization control for robot manipulators driven by induction motors with flux and velocity observers

Abstract

This paper presents a design of synchronization of robot manipulators driven by induction motors in the case where the flux, velocity and currents are estimated. The synchronization is developed in both the joint space and workspace. The [Formula: see text] field oriented frame model of the induction motor is used to design the synchronization control approach. An observer based on the [Formula: see text] frame model is proposed to estimate the flux, velocity and currents variables, then they are converted to the variables of the [Formula: see text] field-oriented model, and finally the remaining variables are estimated by means of an observer based on the [Formula: see text] frame model. Stability is proved via a Lyapunov analysis. Simulations show the proposed controllers yield synchronization errors asymptotically stables in the closed-loop response.