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

Hemant Melkote, Farshad Khorrami

Research output: Contribution to conferencePaper

Abstract

Application of robust adaptive nonlinear control to brushless DC motors is considered in this paper. The advocated robust adaptive controller enjoys robustness to parametric and dynamic uncertainties in the motor dynamics. In addition, the controller can reject any bounded disturbances acting on the motor. The controlled variables are phase voltages which are designed based on the backstepping technique. The closed-loop stability of the system is shown using Lyapunov techniques. The tracking errors are shown to be globally uniformly bounded. The design procedure is shown to be also applicable to multi-link manipulators actuated by brushless DC motors. The control design may be improved to achieve asymptotic tracking.

Original languageEnglish (US)
Pages288-293
Number of pages6
StatePublished - 1997
EventProceedings of the 1997 IEEE International Conference on Control Applications - Hartford, CT, USA
Duration: Oct 5 1997Oct 7 1997

Other

OtherProceedings of the 1997 IEEE International Conference on Control Applications
CityHartford, CT, USA
Period10/5/9710/7/97

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Melkote, H., & Khorrami, F. (1997). Robust adaptive control of direct drive brushless DC motors and applications to robotic manipulators. 288-293. Paper presented at Proceedings of the 1997 IEEE International Conference on Control Applications, Hartford, CT, USA, .