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pd control with feedforward compensation

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PD control with feedforward compensation for rigid robots actuated by brushless DC motors
R. V. Carrillo-Serrano, V. M. Hernández-Guzmán, V. Santibáñez
Journal:

Robotica / Volume 29 / Issue 4 / July 2011

Published online by Cambridge University Press:

29 July 2010, pp. 507-514
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This work is concerned with trajectory tracking of robots when the electrical dynamics of the brushless DC motor actuators is considered. It is shown that proportional-derivative (PD) control with feedforward compensation, plus some additional terms to cope with the electrical dynamics, ensures state boundedness. Furthermore, tracking error converges to zero from arbitrarily large initial conditions if controller gains are correctly chosen. Under mild assumptions, this controller reduces to the well-known PD control with feedforward compensation when implemented according to torque control, a successful industrial practice. Thus, it is explained, for the first time, why this strategy works well in applications.