Adaptive control of BLDC driven robot manipulators in task space

IF 2.2 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

IET Control Theory and Applications Pub Date : 2024-02-06 DOI:10.1049/cth2.12631

Şükrü Ünver, Erman Selim, Enver Tatlıcıoğlu, Erkan Zergeroğlu, Musa Alcı

引用次数: 0

Abstract

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.

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任务空间中 BLDC 驱动机器人机械手的自适应控制

本研究考虑了由无刷直流（BLDC）电机驱动的机器人机械手的任务空间跟踪控制。研究考虑了执行器的动力学，并假设整个机电系统（即运动学、动力学和电气模型）包含参数/结构不确定性。设计了一种新型自适应控制器，并通过新型 Lyapunov 工具确保闭环系统的稳定性。为了证明所提方法的性能和适用性，使用无刷直流电机驱动的双自由度平面机器人机械手模型进行了模拟研究。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IET Control Theory and Applications 工程技术-工程：电子与电气

CiteScore

5.70

自引率

7.70%

发文量

167

审稿时长

5.1 months

期刊介绍： IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces. Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed. Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.