Passivity-based control incorporating trajectory planning for a variable-reluctance finger gripper

Abstract

A novel two-nger gripper using variable-reluctance ( VR) technology is investigated in this paper. Its non-linear characteristics are explored through theoretical analysis and experiments. Based on the experimental model, a passivity-based controller is designed. With energy modi cation and damping injection, the robustness to variable inductance is veri ed by simulations and experiments. Through the incorporation of passivity-based control (PBC ) with di erential atness, trajectory planning is realized and ideal performance is achieved. commutation methods. Although the designed lineariz-Manchester, IT Building IT301, Oxford Road, Manchester M13 9PL, UK.ation controller can set up the phase current before the I08103

Passivity-based control of linear switched reluctance motors

“…In particular, linear switched reluctance motors (LSRMs) inherit the properties of switched reluctance motors and possess features such as simple structure, ruggedness, and reliability in harsh environments. These advantages make LSRM an ideal option for directdrive applications [1][2][3][4][5][6][7][8].…”

“…Non-linear control methods have been used widely in LSRMs [4][5][6][7][8]19]. Force distribution functions and force and current control of LSRMs have been presented [4].…”

“…A precise position control scheme for LSRMs can be found in references [5] to *Corresponding author: Electric Power College, South China University of Technology, Guangdong Key Laboratory of Clean Energy Technology, Guangzhou 510640, People's Republic of China. email: jmyang@scut.edu.cn [8]. Gan et al [5] propose a simple but effective position controller using a look-up table and a robust compensator.…”

“…A closed-form solution for a non-linear current-position-current model is further developed in reference [7]. A passivity-based control incorporating trajectory planning for a variablereluctance finger gripper is applied to improve the position precision and dynamic property in reference [8]. An autodisturbance rejection controller is used in planar switched reluctance motors [19].…”

“…In this paper, a non-linear feedback controller utilizing the natural energy dissipation properties of LSRMs is proposed. The passivity-based controllers have been applied successfully to rotary switched reluctance motors and switched reluctance grippers which have similar properties to switched reluctance motors [8,20]. In these published methods, the LSRM is treated as a whole plant for controller design.…”