Partial State Feedback Tracking Control of Collaborative Robotic Manipulators Actuated by Brushless DC Motors

This study tackles the position tracking control of collaborative robots actuated via brushless DC (BLDC) motors under the constraint that the mechanical system dynamics contain uncertain parameters and joint velocity measurements are not available. Specifically a partial state feedback controller in conjunction with a novel robust velocity observer formulation that achieves semi-global uniform ultimate boundedness of the joint position tracking error is presented. The stability of the closed-loop system is guaranteed via Lyapunov like arguments. Numerical studies performed on a model of a two degree of freedom planar robot manipulators driven by BLDC motors are presented in order to illustrate the effectiveness of the proposed controller/observer couple. Copyright (c) 2024 The Authors.