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.

Robust secure consensus of multiagent systems with DoS attacks

“…In recent years, much attention has been paid to the coordination control of multiagent systems owning to their wide applications in various areas, such as distributed control of traffic light, the formation of unmanned aerial vehicles (UAVs), and cooperative control of robots and smart grid systems (Cao et al, 2019; Cai and Huang, 2014; Liu et al, 2018; Richert and Cortés, 2013; Torres et al, 2019; Wang et al, 2014; Wang and Govindarasu, 2020). Consensus as a special case of coordination problem received especially attention from researchers (Chen et al, 2015; Du et al, 2019; Hu et al, 2013; Jiang and Jiang, 2020; Zheng et al, 2011).…”