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A saturated PD controller for robots equipped with brushless DC-motors

Published online by Cambridge University Press:  22 May 2009

V. M. Hernández-Guzmán ,
V. Santibáñez  and
A. Zavala-Río
V. M. Hernández-Guzmán*
Affiliation:
Universidad Autónoma de Querétaro, Facultad de Ingeniería, Apartado Postal 3-24, C.P. 76150, Querétaro, Qro., México
V. Santibáñez
Affiliation:
Instituto Tecnológico de la Laguna, División de Estudios de Posgrado e Investigación, Apartado Postal 49 Adm. 1, C.P. 27001, Torreón, Coahuila, México.
A. Zavala-Río
Affiliation:
Universidad Autónoma de Querétaro, Facultad de Ingeniería, Apartado Postal 3-24, C.P. 76150, Querétaro, Qro., México
*
*Corresponding author. E-mail: [email protected]
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Summary

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.

Keywords

Robot controlBrushless DC motorsPD controlLyapunov stability
Type
Article
Information
Robotica , Volume 28 , Issue 3 , May 2010 , pp. 405 - 411
Copyright
Copyright © Cambridge University Press 2009

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