Lyapunov-Based Adaptive Control for the Permanent Magnet Synchronous Motor Driving a Robotic Load

This paper is inspired on the structure of the field-oriented control by presenting an analytical and practical study of an adaptive nested controller for trajectory tracking control of a permanent magnet synchronous motor (PMSM) driving a single-link arm. The originality of the new approach relies in the use of adaptive control to compensate the electrical and mechanical dynamics and in the presentation of a rigorous closed-loop system stability analysis based on Lyapunov theory. It is worthwhile to notice that the new controller resembles the pure field-oriented control except for the adaptive terms. The new scheme is compared with other methodologies as with the classical nonadaptive field-oriented control algorithm and with an adaptive controller proposed in the literature. A better tracking accuracy is obtained with the proposed adaptive scheme.