An adaptive tracking controller for multiple-phase permanent-magnet machines

Abstract

Using the integrator back-stepping approach, we develop full state feedback, adaptive position tracking controllers for the permanent-magnet stepper motor and the brushless d.c. motor turning robotic loads. The proposed controllers ensure global asymptotic position tracking despite parametric uncertainty throughout the entire electromechanical system. In addition, the overparametrization problem commonly associated with back-stepping-type controllers is greatly reduced. Experimental results are used to validate the performance of the proposed approach.