Robust Tracking for BLDCM System Based on Unknown Differentiable Deadzone Nonlinearity

摘要

In this paper,trajectory tracking control of the brushless DC motor system (BLDCMS) with parameter unknown deadzone nonlinearity and viscous friction is investigated.Firstly,a global differential homeomorphism based on the recently established differentiable deadzone model is developed to linearize BLDCMS.Then,a model reference robust controller is presented to suppress the uncertainties.Finally,uniformly ultimate boundedness of the closed-loop system is proved and simulation results show validity of the proposed controller.