Title of article
A saturated PD controller for robots equipped with brushless DC-motors
Author/Authors
V. M. Hernandez-Guzman، نويسنده , , V. Santibanez and A. Zavala-R?o، نويسنده ,
Issue Information
دوماهنامه با شماره پیاپی سال 2010
Pages
7
From page
405
To page
411
Abstract
In this paper we are concerned with control of rigid robots equipped with brushless DC-motors (BLDC) when the electric dynamics of these actuators is taken into account. We show for the first time that a saturated PD controller suffices to achieve global asymptotic stability. Our controller is the simplest controller proposed until now to solve this problem: it only requires position measurements and linear feedback of electric current.
Keywords
Lyapunov stability , Robot control , Brushless dc motors , PD control
Journal title
Robotica
Serial Year
2010
Journal title
Robotica
Record number
683758
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