Robust tracking control of a brushless DC motor with application to direct-drive robotics

2002 ◽  
Author(s):  
J.J. Carroll ◽  
D.M. Dawson
Keyword(s):  
Tracking Control ◽  
Dc Motor ◽  
Brushless Dc Motor ◽  
Robust Tracking ◽  
Direct Drive ◽  
Robust Tracking Control ◽  
Brushless Dc

Robust Tracking Control of a Direct Drive Robot

1999 ◽  
Vol 121 (2) ◽  
pp. 261-269 ◽  
Author(s):  
Bong Soo Kang ◽  
Soo Hyun Kim ◽  
Yoon Keun Kwak ◽  
Craig C. Smith
Keyword(s):  
Tracking Control ◽  
Torque Control ◽  
Joint Control ◽  
Robust Tracking ◽  
Direct Drive ◽  
Robust Tracking Control ◽  
Tracking Errors ◽  
Robust Controller ◽  
Residual Errors ◽  
Computed Torque

This paper presents a robust controller for tracking control of a direct-drive robot. The proposed controller consists of two portions: a computed torque method which precompensates for dynamics of the modeled plant and an H∞ controller which postcompensates for residual errors which are not completely removed by the computed torque method. Experimental methods for identifying appropriate model structure and parameters are presented, and three specific controller types are compared. Using the robot designed in our laboratory, the combined controller reduced tracking errors by one half compared to computed torque control alone, and by one sixth compared to conventional independent joint control.

Robust Tracking for BLDCM System Based on Unknown Differentiable Deadzone Nonlinearity

2013 ◽  
Vol 313-314 ◽  
pp. 530-534 ◽  
Author(s):  
Zhi Guang Shi ◽  
Wei Huo
Keyword(s):  
Tracking Control ◽  
Viscous Friction ◽  
Brushless Dc Motor ◽  
Robust Tracking ◽  
Closed Loop System ◽  
Ultimate Boundedness ◽  
Robust Controller ◽  
Trajectory Tracking Control ◽  
Brushless Dc ◽  
Uniformly Ultimate Boundedness

In this paper, trajectory tracking control of the brushless DC motor system (BLDCMS) with parameter unknown deadzone nonlinearity and viscous friction is investigated. Firstly, a global differential homeomorphism based on the recently established differentiable deadzone model is developed to linearize BLDCMS. Then, a model reference robust controller is presented to suppress the uncertainties. Finally, uniformly ultimate boundedness of the closed-loop system is proved and simulation results show validity of the proposed controller.

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