Integrator backstepping based hybrid adaptive control of robotic manipulators driven by brushless DC motors

Abstract

In this paper a hybrid adaptive controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. The main features are: (1) suitability of the scheme for multi-joint robots; (2) computationally simple; (3) the semi-global asymptotic stability of the controller being established in the Lyapunov sense; (4) the design, requiring at most, the joint velocities and stator currents feedback.