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

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

doi:10.1109/TMAG.2015.2436399

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

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

The Hong Kong Polytechnic University

Research output: Journal article publication › Journal article › Academic research › peer-review

4 Citations (Scopus)

Abstract

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 language	English
Article number	7111324
Journal	IEEE Transactions on Magnetics
Volume	51
Issue number	11
DOIs	https://doi.org/10.1109/TMAG.2015.2436399
Publication status	Published - 1 Nov 2015

Keywords

adaptive control
gripper
System identification

ASJC Scopus subject areas

Electronic, Optical and Magnetic Materials
Electrical and Electronic Engineering

More information

10.1109/TMAG.2015.2436399

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abstract = "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.",

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AB - 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.

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KW - System identification

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

Abstract

Keywords

ASJC Scopus subject areas

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