Design of a Robust Backstepping Controller for a Robotic Load Driven by a Brushless DC Motor

로봇부하 구동용 BLDC 모터의 강인 백스테핑 제어기 설계

In this paper, the robust position tracking cotroller for a brushless DC motor driving a one-link robot manipulator is proposed. By using the backstepping approach, the adaptive and robust controller is appropriately designed to ensure global stability. The proposed robust backstepping controller can compensate for estimation errors in system parameters in the system with no structural changes in the controller and without destruction of the stability. The closed-loop stability of the system is shown using Lyapunov techniques. The tracking errors are shown to be globally uniformly bounded.