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    Robust backstepping control of robotic manipulators actuated via brushless DC motors
    (Springernature, 2024) Saka, Irem; Unver, Sukru; Selim, Erman; Tatlicioglu, Enver; Zergeroglu, Erkan
    This paper introduces a novel integrator backstepping-based sliding mode controller for robot manipulators equipped with brushless DC motors. Our control design explicitly incorporates the intricate dynamics of actuators, enabling robust performance even in the presence of uncertainties in models of both dynamic and electrical subsystems. Rigorous stability analysis using Lyapunov techniques ensures boundedness of all signals under the closed-loop operation and guarantees global asymptotic stability of the joint position tracking error. Furthermore, an experimental study is conducted to demonstrate the effectiveness of the proposed method, utilizing an in-house developed two degree of freedom planar robot manipulator actuated by brushless DC motors.
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    Tracking control of robot manipulators actuated by brushless DC motors: Elimination of joint velocity measurements with a robust observer
    (Wiley, 2024) Unver, Sukru; Selim, Erman; Saka, Irem; Tatlicioglu, Enver; Zergeroglu, Erkan; Alci, Musa
    This work introduces an innovative robust partial state feedback controller designed for robotic manipulators actuated by brushless DC motors. The proposed controller/observer structure relies solely on actuator current and robot joint position measurements, while effectively compensating for dynamic uncertainties in both the electrical (actuator dynamics) and mechanical (robot's dynamical terms) subsystems. Specifically, a model-based robust observer, eliminating the need of joint velocity measurements, is combined with a backstepping-type controller design. As opposed to the previous model based observers that depend on the actual model parameters, the proposed observer structure utilizes the best guest estimates of the system parameters supported with a robust compensation term. This approach eliminates the need for precise knowledge of system parameters of the observer design which is a significant improvement over most of the previous results. This approach ensures the semi-global, uniformly ultimately bounded joint tracking error signal. The overall stability of the closed-loop system is affirmed through Lyapunov-based arguments. Experimental studies conducted on an in-house-built two-link robotic manipulator, actuated by brushless DC motors, are presented to demonstrate the effectiveness and feasibility of the proposed method.