Adaptive control of BLDC driven robot manipulators in task space
Articles > Article · 2024
Authors: Şükrü Ünver, Erman SELİM, Enver TATLICIOĞLU, Erkan Zergeroğlu, Musa ALCI
IET CONTROL THEORY AND APPLICATIONS, Journal Indexed in SCI Expanded, International, Scopus, 2024, pp 1-12
DOI: 10.1049/cth2.12631
Summary
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.