PID control of robot manipulators actuated by BLDC motors

Few control schemes exist for brushless direct-current (BLDC) motors provided with formal global stability proofs. Moreover, most of these works are constrained to control velocity in single motors actuating on simple linear mechanical loads. Inspired by a recent proposal in the literature, we present a control scheme for direct-drive BLDC motors, which is provided with a global stability proof, when actuating on n-degrees of freedom rigid robots. Thus, we solve the position control problem in n direct-drive BLDC when actuating on a complex, nonlinear and highly coupled mechanical load. Another important feature of our proposal is its simple control law when compared to control schemes previously presented in the literature.