Nonlinear adaptive control of direct-drive brushless DC motors and applications to robotic manipulators

Hemant Melkote; Farshad Khorrami

doi:10.1109/3516.752086

Nonlinear adaptive control of direct-drive brushless DC motors and applications to robotic manipulators

Hemant Melkote, Farshad Khorrami

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

Robust adaptive nonlinear control of brushless dc (BLDC) motors is considered in this paper. A controller is designed for the plant that is robust to parametric and dynamic uncertainties in the entire electromechanical system. These uncertainties are shown to be bounded by polynomials in the states. In addition, the controller can reject any bounded unmeasurable disturbances entering the system. A model for the motor incorporating magnetic saturation is used to design voltage-level control inputs for the motor. The design methodology is based on our earlier work on adaptive control of nonlinear systems. The overall stability of the system is shown using Lyapunov techniques. The tracking error is shown to be globally uniformly bounded. The design procedure is shown to be also applicable to multilink manipulators actuated by BLDC motors. The performance of the controller is verified through simulations and comparisons with a proportional-integral-derivative-type controller are made.

Original language	English (US)
Pages (from-to)	71-86
Number of pages	16
Journal	IEEE/ASME Transactions on Mechatronics
Volume	4
Issue number	1
DOIs	https://doi.org/10.1109/3516.752086
State	Published - 1999

Keywords

Adaptive control
Brushless machines
Manipulators

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/3516.752086

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title = "Nonlinear adaptive control of direct-drive brushless DC motors and applications to robotic manipulators",

abstract = "Robust adaptive nonlinear control of brushless dc (BLDC) motors is considered in this paper. A controller is designed for the plant that is robust to parametric and dynamic uncertainties in the entire electromechanical system. These uncertainties are shown to be bounded by polynomials in the states. In addition, the controller can reject any bounded unmeasurable disturbances entering the system. A model for the motor incorporating magnetic saturation is used to design voltage-level control inputs for the motor. The design methodology is based on our earlier work on adaptive control of nonlinear systems. The overall stability of the system is shown using Lyapunov techniques. The tracking error is shown to be globally uniformly bounded. The design procedure is shown to be also applicable to multilink manipulators actuated by BLDC motors. The performance of the controller is verified through simulations and comparisons with a proportional-integral-derivative-type controller are made.",

keywords = "Adaptive control, Brushless machines, Manipulators",

author = "Hemant Melkote and Farshad Khorrami",

note = "Funding Information: Manuscript received January 20, 1997; revised January 16, 1998 and October 21, 1998. Recommended by Technical Editor K. Ohnishi. This work was supported in part by the U.S. Army Research Office under Grant DAAH04-93-G-0209 and in part by the National Science Foundation under Grant CMS-9700456.",

year = "1999",

doi = "10.1109/3516.752086",

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AU - Khorrami, Farshad

N1 - Funding Information: Manuscript received January 20, 1997; revised January 16, 1998 and October 21, 1998. Recommended by Technical Editor K. Ohnishi. This work was supported in part by the U.S. Army Research Office under Grant DAAH04-93-G-0209 and in part by the National Science Foundation under Grant CMS-9700456.

PY - 1999

Y1 - 1999

N2 - Robust adaptive nonlinear control of brushless dc (BLDC) motors is considered in this paper. A controller is designed for the plant that is robust to parametric and dynamic uncertainties in the entire electromechanical system. These uncertainties are shown to be bounded by polynomials in the states. In addition, the controller can reject any bounded unmeasurable disturbances entering the system. A model for the motor incorporating magnetic saturation is used to design voltage-level control inputs for the motor. The design methodology is based on our earlier work on adaptive control of nonlinear systems. The overall stability of the system is shown using Lyapunov techniques. The tracking error is shown to be globally uniformly bounded. The design procedure is shown to be also applicable to multilink manipulators actuated by BLDC motors. The performance of the controller is verified through simulations and comparisons with a proportional-integral-derivative-type controller are made.

AB - Robust adaptive nonlinear control of brushless dc (BLDC) motors is considered in this paper. A controller is designed for the plant that is robust to parametric and dynamic uncertainties in the entire electromechanical system. These uncertainties are shown to be bounded by polynomials in the states. In addition, the controller can reject any bounded unmeasurable disturbances entering the system. A model for the motor incorporating magnetic saturation is used to design voltage-level control inputs for the motor. The design methodology is based on our earlier work on adaptive control of nonlinear systems. The overall stability of the system is shown using Lyapunov techniques. The tracking error is shown to be globally uniformly bounded. The design procedure is shown to be also applicable to multilink manipulators actuated by BLDC motors. The performance of the controller is verified through simulations and comparisons with a proportional-integral-derivative-type controller are made.

KW - Adaptive control

KW - Brushless machines

KW - Manipulators

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Nonlinear adaptive control of direct-drive brushless DC motors and applications to robotic manipulators

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Keywords

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