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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Bibliographic Details
Published inRobotica Vol. 28; no. 3; pp. 405 - 411
Main Authors Hernández-Guzmán, V. M., Santibáñez, V., Zavala-Río, A.
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.05.2010
Subjects
Brushless DC motors
Lyapunov stability
PD control
Robot control
Lyapunov stability
Brushless DC motors
PD control
Robot control
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Summary: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.
Bibliography:istex:6650A4369CC886FC3132031F9F1AB806C21E2D18
PII:S0263574709005724
ArticleID:00572
ark:/67375/6GQ-QWKP4HDS-T
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574709005724