Hybrid integrator backstepping control of robotic manipulators driven by brushless DC motors

In this paper, a hybrid integrator backstepping controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. The main features are: 1) the design, requiring at most the joint velocities and stator currents feedback; 2) the semiglobal asymptotic stability of the controller being established in the Lyapunov sense; and 3) suitability of the scheme for multijoint robots. Simulation results are included to demonstrate the tracking performance.