Adaptive backstepping controller design for the speed control of brushless DC Motor

Abstract

Nonlinear dynamical model and its physical quantities have to be known exactly in order to obtain a high performance in the speed control of brushless direct current (BLDC) motors. However this may not be possible due to the lack of knowledge on the model parameters, the change of some physical characteristics during the operation and uncertainty on the load torque. An adaptive backstepping controller design is proposed in this paper to provide the speed control under parametric uncertainties. Model uncertainties have been considered in the design process of the controller and the convergence of the speed error to zero has been ensured via Lyapunov stability analysis. The designed controller has been tested for various reference trajectories considering all the practical issues in a simulation environment and satisfactory results have been obtained.