A simple and robust adaptive controller for PM motor robotic drives

The theoretical development and the practical implementation of an adaptive speed and position regulator suitable for robotic applications are addressed. The proposed adaptive control scheme, which is characterized by a reduced amount of computation, is based on the model reference adaptive control approach, and employs a disturbance torque observer that makes it possible to noticeably simplify the adaptive algorithm. Simulations that compare the proposed control scheme with standard speed and position regulators are reported. Experimental results for a prototype based on a commercial PC board, used to evaluate the features of the proposed adaptive control scheme are also reported