An adaptive integrator backstepping tracking controller for brushless DC motor/robotic load

Abstract

Presents an adaptive tracking controller for a brushless DC (BLDC) motor turning a robotic load. Using the "integrator backstepping" approach, a global asymptotic stability result is obtained for the rotor position and velocity tracking error. The proposed controller can compensate for parametric uncertainties throughout the entire electromechanical system and is free from control singularities. Simulation results are presented to validate the performance of the controller.