Adaptive control of rigid-link electrically-driven robots actuated with brushless DC motors
- Univ. of Michigan, Ann Arbor, MI (United States)
- Clemson Univ., SC (United States)
In this paper, we extend the work of [1] and [2] to design an adaptive controller for rigid-link electrically-driven (RLED) robot manipulators specifically actuated with Brushless Direct Current (BLDC) motors. In particular the adaptive controller presented is tailored to handle the multi-link dynamics of a rigid-link robot as opposed to a simple inertial load. Furthermore, the linear electrical dynamics of brushed DC motors used in the development of [1], are replaced with the multiple input nonlinear dynamics of BLDC motors. The result is an adaptive controller that guarantees globally asymptotic convergence of the link position tracking error in spite of parametric uncertainty throughout the entire electro-mechanical model.
- DOE Contract Number:
- AC21-92MC29115
- OSTI ID:
- 68533
- Report Number(s):
- CONF-941216-; CNN: Grant IRI-9111258; Grant DDM-931133269; TRN: 95:004350-0020
- Resource Relation:
- Conference: 33. Institute of Electrical and Electronic Engineers (IEEE) conference on decision and control, Orlando, FL (United States), 14-16 Dec 1994; Other Information: PBD: 1994; Related Information: Is Part Of Proceedings of the 33rd IEEE conference on decision and control; PB: 4347 p.
- Country of Publication:
- United States
- Language:
- English
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