DocumentCode
2649093
Title
An adaptive integrator backstepping tracking controller for brushless DC motor/robotic load
Author
Hu, J. ; Dawson, D.M. ; Carroll, J.J.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Volume
2
fYear
1994
fDate
29 June-1 July 1994
Firstpage
1401
Abstract
Presents an adaptive tracking controller for a brushless DC (BLDC) motor turning a robotic load. Using the "integrator backstepping" approach, a global asymptotic stability result is obtained for the rotor position and velocity tracking error. The proposed controller can compensate for parametric uncertainties throughout the entire electromechanical system and is free from control singularities. Simulation results are presented to validate the performance of the controller.
Keywords
adaptive control; asymptotic stability; brushless DC motors; machine control; position control; robots; tracking; velocity control; adaptive integrator backstepping tracking controller; brushless DC motor; global asymptotic stability; parametric uncertainties; robotic load; rotor position; velocity tracking error; Adaptive control; Asymptotic stability; Backstepping; Brushless DC motors; Brushless motors; Control systems; DC motors; Programmable control; Robots; Turning;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.752290
Filename
752290
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