DOI: 10.1049/cth2.12631 ISSN: 1751-8644
Adaptive control of BLDC driven robot manipulators in task space
Şükrü Ünver, Erman Selim, Enver Tatlıcıoğlu, Erkan Zergeroğlu, Musa Alcı- Electrical and Electronic Engineering
- Control and Optimization
- Computer Science Applications
- Human-Computer Interaction
- Control and Systems Engineering
Abstract
In this study, task space tracking control of robot manipulators driven by brushless DC (BLDC) motors is considered. Dynamics of actuators are taken into account and the entire electromechanical system (i.e. kinematic, dynamic, and electrical models) is assumed to include parametric/structured uncertainties. A novel adaptive controller is designed and the stability of the closed loop system is ensured via novel Lyapunov type tools. To demonstrate performance and applicability of the proposed method, a simulation study is conducted using the model of a two degree of freedom, planar robotic manipulator driven by BLDC motors.