Title :
Adaptive control of rigid-link electrically-driven robots actuated with brushless DC motors
Author :
Bridges, M.M. ; Dawson, D.M.
Author_Institution :
Dept. of Mech. Eng. & Appl. Mech., Michigan Univ., Ann Arbor, MI, USA
Abstract :
Extends the work of Bridges, Dawson and Gao (1993) and Hu and Dawson (1993) 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 in the second paper 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 the first paper, 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
Keywords :
adaptive control; brushless DC motors; control system synthesis; convergence; manipulator dynamics; tracking; adaptive controller; brushless DC motors; globally asymptotic convergence; link position tracking error; manipulators; multi-link dynamics; multiple input nonlinear dynamics; parametric uncertainty; rigid-link electrically-driven robots; Adaptive control; Bridges; Brushless DC motors; Brushless motors; Convergence; DC motors; Error correction; Manipulator dynamics; Programmable control; Robots;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411145
