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Author Bridges, M.M. ♦ Dawson, D.M.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1994
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Adaptive control ♦ Robots ♦ Programmable control ♦ DC motors ♦ Brushless DC motors ♦ Bridges ♦ Manipulator dynamics ♦ Brushless motors ♦ Convergence ♦ Error correction
Abstract Extends the work of Bridges, Dawson and Gao (1993) and Hu and Dawson (1993) to design an adaptive controller for rigid-link electrically-driven (RLED) robot manipulators specifically actuated with brushless direct current (BLDC) motors. In particular the adaptive controller presented in the second paper is tailored to handle the multi-link dynamics of a rigid-link robot as opposed to a simple inertial load. Furthermore, the linear electrical dynamics of brushed DC motors used in the development of the first paper, are replaced with the multiple input nonlinear dynamics of BLDC motors. The result is an adaptive controller that guarantees globally asymptotic convergence of the link position tracking error in spite of parametric uncertainty throughout the entire electro-mechanical model.<<ETX>>
Description Author affiliation: Dept. of Mech. Eng. & Appl. Mech., Michigan Univ., Ann Arbor, MI, USA (Bridges, M.M.)
ISBN 0780319680
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1994-12-14
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 518.61 kB
Page Count 6
Starting Page 1284
Ending Page 1289

Source: IEEE Xplore Digital Library