Nonlinear Position Control with Augmented Observer in Brushless DC Motor

Youngwoo Lee and Wonhee Kim
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Youngwoo Lee: Department of Electrical Engineering, Chonnam National University, Gwangju 61186, Korea
Wonhee Kim: School of Energy Systems Engineering, Chung-Ang University, Seoul 06974, Korea

Mathematics, 2021, vol. 9, issue 20, 1-14

Abstract: In this paper, position control using both a nonlinear position controller and a current controller with an augmented observer is proposed for a Brushless DC motor. The nonlinear position controller is designed to improve the position tracking performance based on the tracking error dynamics. The current controller is developed to track the desired currents generated from the desired torque, which is calculated based on the nonlinear position controller. The augmented observer is designed to obtain the knowledge of both state variables and disturbance. Closed-loop stability is proven through the Lyapunov theorem. Simulations were performed to evaluate the effectiveness of the proposed method.

Keywords: position control; augmented observer; backstepping; brushless DC motor; Lyapunov stability (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
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