Title :
An adaptive integrator backstepping tracking controller for brushless DC motor/robotic load
Author :
Hu, J. ; Dawson, D.M. ; Carroll, J.J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
fDate :
29 June-1 July 1994
Abstract :
Presents an adaptive tracking controller for a brushless DC (BLDC) motor turning a robotic load. Using the "integrator backstepping" approach, a global asymptotic stability result is obtained for the rotor position and velocity tracking error. The proposed controller can compensate for parametric uncertainties throughout the entire electromechanical system and is free from control singularities. Simulation results are presented to validate the performance of the controller.
Keywords :
adaptive control; asymptotic stability; brushless DC motors; machine control; position control; robots; tracking; velocity control; adaptive integrator backstepping tracking controller; brushless DC motor; global asymptotic stability; parametric uncertainties; robotic load; rotor position; velocity tracking error; Adaptive control; Asymptotic stability; Backstepping; Brushless DC motors; Brushless motors; Control systems; DC motors; Programmable control; Robots; Turning;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752290
