A saturated pd controller for robots equipped with brushless dc-motors

Authors:
V. m. Hernández-guzmán;V. Santibáñez;A. Zavala-río
Affiliations:
Universidad autónoma de querétaro, facultad de ingeniería, apartado postal 3-24, c.p. 76150, querétaro, qro., méxico;Instituto tecnológico de la laguna, división de estudios de posgrado e investigación, apartado postal 49 adm. 1, c.p. 27001, torreón, coahuila, méxico.;Universidad autónoma de querétaro, facultad de ingeniería, apartado postal 3-24, c.p. 76150, querétaro, qro., méxico
Venue:
Robotica
Year:
2010

Citing 3
Cited 1

Nonlinear Control of Electric Machinery

Nonlinear Control of Electric Machinery
Pid control of robot manipulators equipped with brushless dc motors

Robotica
A Natural Saturating Extension of the PD-With-Desired-Gravity-Compensation Control Law for Robot Manipulators With Bounded Inputs

IEEE Transactions on Robotics

Pd control with feedforward compensation for rigid robots actuated by brushless dc motors

Robotica

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Abstract

In this paper we are concerned with control of rigid robots equipped with brushless DC-motors (BLDC) when the electric dynamics of these actuators is taken into account. We show for the first time that a saturated PD controller suffices to achieve global asymptotic stability. Our controller is the simplest controller proposed until now to solve this problem: it only requires position measurements and linear feedback of electric current.