Task-Based Control and Design of a BLDC Actuator for Robotics


A. De, A. Stewart-Height, and D. E. Koditschek, “Task-Based Control and Design of a BLDC Actuator for Robotics,” RAL, pp. 8, 2019.

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This paper proposes a new multi-input brushless DC motor current control policy aimed at robotics applications. The controller achieves empirical improvements in steady-state torque and power-production abilities relative to conventional controllers, while retaining similarly good torquetracking and stability characteristics. Simulations show that non-conventional motor design optimizations whose feasibility is established by scaling model extrapolations from existing motor catalogues can vastly amplify the effectiveness of this new control-strategy.