Adaptive Control of Brushless DC Motor Driven Robot Manipulators Using Legendre Polynomials

This paper presents a novel control strategy for brushless DC (BLDC) motor-driven, multi-degree-of-freedom robot manipulators, addressing the challenges posed by the highly nonlinear and coupled dynamics of the motor and manipulator. The proposed controller leverages the universal approximation property of Legendre polynomials, a class of orthogonal functions, to effectively compensate for modeling uncertainties and system nonlinearities. A rigorous stability analysis is conducted using Lyapunov-based methods, guaranteeing semi-global uniform ultimate boundedness of the closed-loop system. Experimental studies on an in-house developed BLDC-driven robotic device validate the effectiveness of the proposed controller, demonstrating its capability to achieve precise trajectory tracking with robust performance.