Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/35511
Title: An adaptive high-precision tracking controller for the coupled switched reluctance two-finger gripper
Authors: Zou, Y
Cheung, NC 
Pan, JF
Keywords: Adaptive control
Gripper
System identification
Issue Date: 2015
Publisher: Institute of Electrical and Electronics Engineers
Source: IEEE transactions on magnetics, 2015, v. 51, no. 11, 7111324 How to cite?
Journal: IEEE transactions on magnetics 
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.
URI: http://hdl.handle.net/10397/35511
ISSN: 0018-9464
DOI: 10.1109/TMAG.2015.2436399
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