Adaptive output feedback control for permanent magnet spherical motor by fuzzy approximation approach

In this paper, the problem of continuous tracking control for permanent magnet spherical motor (PMSM) is investigated. Based on the nonlinear rotor dynamic model, the adaptive output feedback control is employed. Among them, the unknown nonlinear model can be directly approximately by fuzzy logic system, while the robust items are used to compensate the estimated errors. Moreover, with the aid of regularized matrix inverse, the controller singular problem is solved. The designed controller can guarantee the closed-loop system stability based on Lyapunov analysis. Simulations results are provided to demonstrate the effectiveness of the proposed methods.