Tracking control of robot manipulators actuated by brushless DC motors: Elimination of joint velocity measurements with a robust observer

• DOI: 10.1002/rnc.7397
• Publication Date: 2024-04-25T07:19:46Z
• Authors: Sukru Unver; Erman Selim; Irem Saka; Enver Tatlicioglu; Erkan Zergeroglu; Musa Alcı
• Keywords: Observer (physics)

Abstract This work introduces an innovative robust partial state feedback controller designed for robotic manipulators actuated by brushless DC motors. The proposed controller/observer structure relies solely on actuator current and robot joint position measurements, while effectively compensating dynamic uncertainties in both the electrical (actuator dynamics) mechanical (robot's dynamical terms) subsystems. Specifically, a model–based observer, eliminating need of velocity is combined with backstepping‐type design. As opposed to previous model based observers that depend actual parameters, observer utilizes best guest estimates system parameters supported compensation term. approach eliminates precise knowledge design which significant improvement over most results. ensures semi‐global, uniformly ultimately bounded tracking error signal. overall stability closed‐loop affirmed through Lyapunov‐based arguments. Experimental studies conducted in‐house‐built two‐link manipulator, motors, are presented demonstrate effectiveness feasibility method.