An Adaptive High-Precision Tracking Controller for the Coupled Switched Reluctance Two-Finger Gripper

Y. Zou, Chow Norbert Cheung, J. F. Pan

Research output: Journal article publicationJournal articleAcademic researchpeer-review

2 Citations (Scopus)


An adaptive high-precision position control algorithm with online system identification is implemented onto the switched reluctance, two-finger gripper with coupled magnetic paths. Theoretical investigation proves that the magnetic paths from the two fingers are highly coupled. Without the introduction of any decoupling scheme, the position control performance under the proportional integral differential controller and the adaptive controller is inspected and the control results are compared. Experimental results verify that, without introducing any decoupling mechanism, the adaptive controller is capable of independent control of each finger with a high-precision and uniform position control performance.
Original languageEnglish
Article number7111324
JournalIEEE Transactions on Magnetics
Issue number11
Publication statusPublished - 1 Nov 2015


  • adaptive control
  • gripper
  • System identification

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Electrical and Electronic Engineering

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