Integrator backstepping based hybrid adaptive control of robotic manipulators driven by brushless DC motors

Author

Su, Chun-Yi ; Stepanenko, Yury

Author_Institution

Dept. of Mech. Eng., Victoria Univ., BC, Canada

Volume

1

fYear

1996

fDate

11-13 Dec 1996

Firstpage

372

Abstract

In this paper a hybrid adaptive 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) suitability of the scheme for multi-joint robots; (2) computationally simple; (3) the semi-global asymptotic stability of the controller being established in the Lyapunov sense; (4) the design, requiring at most, the joint velocities and stator currents feedback

Keywords

Lyapunov methods; adaptive control; asymptotic stability; brushless DC motors; closed loop systems; electric actuators; manipulator dynamics; variable structure systems; arbitrary uncertain inertia parameters; brushless DC motors; integrator backstepping based hybrid adaptive control; joint velocities; multi-joint robots; robotic manipulators; semi-global asymptotic stability; stator currents feedback; Actuators; Adaptive control; Asymptotic stability; Backstepping; Brushless DC motors; Manipulators; Programmable control; Robot sensing systems; Stators; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.574338

Filename

574338