An adaptive tracking controller for a brushless DC motor with reduced overparameterization effects
Book
·
OSTI ID:72387
- Clemson Univ., SC (United States)
Using the integrator backstepping approach, we develop a full state feedback, adaptive position tracking controller for a brushless DC (BLDC) motor turning a robotic load. The proposed controller ensures global asymptotic tracking for the rotor position and velocity despite the parametric uncertainties throughout the entire electromechanical system. The overparameterization problem commonly associated with backstepping-type controllers is greatly reduced. Experimental results are used to validate the performance of the controller.
- OSTI ID:
- 72387
- Report Number(s):
- CONF-941216--; CNN: Grant DDM-931133269
- Country of Publication:
- United States
- Language:
- English
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