Title :
Semiglobal position tracking control of brushless DC motors using output feedback
Author :
Carroll, J.J. ; Dawson, D.M.
Abstract :
This paper uses an observed backstepping procedure to design a position tracking controller for a permanent magnet brushless direct-current (BLDC) motor driving an inertial load. The electromechanical system contains nonlinearities in both the output position and the intermediate states between the motor position output and the motor voltage input. A semiglobal exponential stability (SES) result is obtained for the motor position tracking error given an exact nonlinear model of the entire electromechanical system and measurement of the motor position only, i.e., output feedback
Keywords :
DC motors; control system synthesis; feedback; machine control; permanent magnet motors; position control; stability; state estimation; tracking; brushless DC motors; electromechanical system; inertial load; observed backstepping procedure; output feedback; semiglobal exponential stability; semiglobal position tracking control; tracking error; Backstepping; Brushless DC motors; Brushless motors; DC motors; Electromechanical systems; Output feedback; Permanent magnet motors; Position measurement; Stability; Voltage;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325844
