A saturated PD controller for robots equipped with brushless DC-motors

A saturated PD controller for robots equipped with brushless DC-motors

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 s...

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Veröffentlicht in:Robotica 2010-05, Vol.28 (3), p.405-411
Hauptverfasser: Hernández-Guzmán, V. M., Santibáñez, V., Zavala-Río, A.
Format: Artikel
Sprache:eng
Schlagworte:
Brushless DC motors
Lyapunov stability
PD control
Robot control
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Zusammenfassung: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.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574709005724