Departmental Papers (ESE)



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 torque-tracking 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.

Sponsor Acknowledgements

This work was supported in part by AFRL grant #FA865015D1845 subcontract 669737-1, and in part by ONR grant #N00014-16-1-2817, a Vannevar Bush Fellowship held by the last author, sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering.

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

IEEE Robotics and Automation Letters 2019

Copyright/Permission Statement

This is the author's preprint.



Date Posted: 22 January 2019

This document has been peer reviewed.