Robust Nonlinear Control of Brushless dc Motors for Direct-Drive Robotic Applications

Document Type

Article

Publication Date

1-1-1990

Abstract

The control problem associated with brushless dc motors (BLDCM) for direct-drive robotic applications is considered. In order to guarantee the high-performance operation of BLDCM's in such applications, the effects of reluctance variations and magnetic saturation are accounted for in the model. Such a BLDCM mode) constitutes a highly coupled and nonlinear dynamic system. Using the transformation theory of nonlinear systems, a feedback control law, which is shown to compensate for the system nonlinearities, is derived. Conditions under which such a control law is possible are presented. Furthermore, the need for the derivation of explicit commutation strategies is eliminated, resulting in the reduction of the computations involved. To guarantee the high-performance operation of the system subject to substantial uncertainties, a robust control law is derived and appended to the overall control structure. The inclusion of the robust controller results in good tracking performance when there are modeling and measurement errors and payload uncertainties. The efficacy of the overall control law is investigated by considering a single-link direct-drive arm actuated by a BLDCM. © 1990 IEEE

Identifier

0025682728 (Scopus)

Publication Title

IEEE Transactions on Industrial Electronics

External Full Text Location

https://doi.org/10.1109/41.103449

e-ISSN

15579948

ISSN

02780046

First Page

460

Last Page

468

Issue

6

Volume

37

Grant

MSM845 1074

Fund Ref

National Science Foundation

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