Tracking control of robot manipulators actuated by brushless DC motors: Elimination of joint velocity measurements with a robust observer

This work introduces an innovative robust partial state feedback controller designed for robotic manipulators actuated by brushless DC motors. The proposed controller/observer structure relies solely on actuator current and robot joint position measurements, while effectively compensating for dynami...

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Veröffentlicht in:	International journal of robust and nonlinear control 2024-08, Vol.34 (12), p.8465-8480
Hauptverfasser:	Unver, Sukru, Selim, Erman, Saka, Irem, Tatlicioglu, Enver, Zergeroglu, Erkan, Alcı, Musa
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators actuators dynamics Brushless motors Control systems design Controllers D C motors Effectiveness Electric motors Error signals Feedback control Lyapunov based stability Manipulators observer Parameters Position measurement Robot arms Robot control robotic manipulators Robots Robust control State feedback Subsystems Tracking control Tracking errors
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