Adaptive control of BLDC driven robot manipulators in task space

被引：10

作者：

Unver, Sukru ^{[1
]}

Selim, Erman ^{[1
,3
]}

Tatlicioglu, Enver ^{[1
]}

Zergeroglu, Erkan ^{[2
]}

Alci, Musa ^{[1
]}

机构：

[1] Ege Univ, Elect & Elect Engn, Izmir, Turkiye

[2] Gebze Tech Univ, Comp Engn, Kocaeli, Turkiye

[3] Ege Univ, Elect & Elect Engn Dept, TR-35100 Bornova, Turkiye

来源：

IET CONTROL THEORY AND APPLICATIONS | 2024年 / 18卷 / 15期

关键词：

adaptive control; electric actuators; Lyapunov methods; manipulator kinematics; TRACKING CONTROL; KINEMATICS; DYNAMICS; DESIGN; MODEL; UNCERTAINTIES; MOTOR;

D O I：

10.1049/cth2.12631

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this study, task space tracking control of robot manipulators driven by brushless DC (BLDC) motors is considered. Dynamics of actuators are taken into account and the entire electromechanical system (i.e. kinematic, dynamic, and electrical models) is assumed to include parametric/structured uncertainties. A novel adaptive controller is designed and the stability of the closed loop system is ensured via novel Lyapunov type tools. To demonstrate performance and applicability of the proposed method, a simulation study is conducted using the model of a two degree of freedom, planar robotic manipulator driven by BLDC motors.

引用

页码：1910 / 1921

页数：12

共 43 条

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IET CONTROL THEORY AND APPLICATIONS, 2022, 16 (12) :1208-1226

[42] Observer Based Adaptive Output Feedback Tracking Control of Robot Manipulators [J].

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49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2010, :3638-3643

[43] Observer-based fuzzy adaptive control for MIMO nonlinear systems with non-constant control gain and input delay [J].

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Li, Yongming .

IET CONTROL THEORY AND APPLICATIONS, 2021, 15 (11) :1488-1505

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