Adaptive control of robot manipulators driven by permanent magnet synchronous motors using orthogonal functions theorem

摘要

This paper is devoted to designing a simple tracking controller for robot manipulators driven by permanent magnet synchronous motors (PMSMs) using orthogonal functions. The whole control system including robot manipulator and PMSMs is formulated in such a way that the voltages along the “d” and “q” axes of the PMSMs are considered as the control inputs. In the core of the proposed approach, uncertainties including external disturbances and system dynamics are estimated and compensated using orthogonal functions. Based on the Lyapunov stability theory, the unknown coefficients of the basis functions are tuned online using the derived adaptation laws. A performance evaluation is presented to guarantee the satisfactory operation of the proposed controller in the transient state. The case study is a spherical manipulator driven by PMSMs. The comparative simulation results confirm that the proposed control approach shows a superior performance regarding tracking objectives with a less computational burden.