Integrator backstepping based hybrid adaptive control of robotic manipulators driven by brushless DC motors

2002 ◽  
Author(s):  
C.-Y. Su ◽  
Y. Stepanenko
Keyword(s):  
Adaptive Control ◽  
Robotic Manipulators ◽  
Brushless Dc Motors ◽  
Brushless Dc ◽  
Dc Motors ◽  
Integrator Backstepping ◽  
Hybrid Adaptive Control

RCMAC-based adaptive control design for brushless DC motors

2008 ◽  
Vol 18 (7) ◽  
pp. 781-790 ◽  
Author(s):  
Chih-Min Lin ◽  
Chun-Fei Hsu ◽  
Chao-Ming Chung
Keyword(s):  
Adaptive Control ◽  
Control Design ◽  
Brushless Dc Motors ◽  
Brushless Dc ◽  
Dc Motors

Adaptive Control of Brushless DC Motors without Model Reduction

2013 ◽  
Vol 278-280 ◽  
pp. 1409-1412
Author(s):  
Chen Yu, Kai ◽  
An Chyau Huang
Keyword(s):  
Adaptive Control ◽  
Controller Design ◽  
Reduced Model ◽  
Brushless Dc Motors ◽  
Practical Applications ◽  
Brushless Dc ◽  
Dc Motors ◽  
Internal Parameters ◽  
Considerable Simplification ◽  
Almost All

Various applications of brushless DC motors (BLDCM) can be found in the industrial environment. However, almost all controllers designed for BLDCM are based on reduced models where a first order dynamics is regarded as the internal model. This way a second order dynamics is considered with considerable simplification in the controller design. Since the reduced model may not reflect the entire dynamics of the motor, some deterioration in the control outcome can be observed. To improve the performance, this paper considers the adaptive control of a BLDCM without using reduced model. Some unknown time-varying payloads are applied to ensure its effectiveness in practical applications. Rigorous mathematics proof of closed loop stability is provided together with the boundedness of the internal parameters. Simulation cases are given to show efficacy of the proposed scheme.

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