PID control of robot manipulators equipped with brushless DC motors

This paper is concerned with PID control of rigid robots equipped with brushless DC (BLDC) motors when the electric dynamics of these actuators is taken into account. We show that an adaptive PID controller yields global stability and global convergence to the desired link positions. Moreover, we al...

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Bibliographic Details
Published inRobotica Vol. 27; no. 2; pp. 225 - 233
Main Authors Hernández-Guzmán, V. M., Santibáñez, V., Campa, R.
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.03.2009
Subjects
Actuators
Brushless DC motors
Brushless motors
Control equipment
D C motors
Motors
PID control
Proportional integral derivative
Robot control
Robots
Torque control
Brushless DC motors
PID control
Robot control
Torque control
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Summary:This paper is concerned with PID control of rigid robots equipped with brushless DC (BLDC) motors when the electric dynamics of these actuators is taken into account. We show that an adaptive PID controller yields global stability and global convergence to the desired link positions. Moreover, we also show that virtually the PID part of the controller suffices to achieve the reported global results. We present a theoretical justification for the torque control strategy, commonly used in practice to control BLDC motors. Our controller does not require the exact knowledge of neither robot nor actuator parameters.
Bibliography:ArticleID:00461
PII:S026357470800461X
istex:29EDEBB68F30BB3ED754763B7F6BDAC3A029DC41
ark:/67375/6GQ-KGC93DZH-V
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0263-5747
1469-8668
DOI:10.1017/S026357470800461X