Adaptive control of BLDC driven robot manipulators in task space

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dc.authoridUnver, Sukru/0000-0002-0836-9799
dc.authoridZergeroglu, Erkan/0000-0002-1211-0448
dc.authoridTatlicioglu, Enver/0000-0001-5623-9975
dc.authoridselim, erman/0000-0003-4479-0406
dc.contributor.authorUnver, Sukru
dc.contributor.authorSelim, Erman
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorZergeroglu, Erkan
dc.contributor.authorAlci, Musa
dc.date.accessioned2024-08-31T07:46:53Z
dc.date.available2024-08-31T07:46:53Z
dc.date.issued2024
dc.departmentEge Üniversitesien_US
dc.description.abstractIn this study, task space tracking control of robot manipulators driven by brushless DC (BLDC) motors is considered. Dynamics of actuators are taken into account and the entire electromechanical system (i.e. kinematic, dynamic, and electrical models) is assumed to include parametric/structured uncertainties. A novel adaptive controller is designed and the stability of the closed loop system is ensured via novel Lyapunov type tools. To demonstrate performance and applicability of the proposed method, a simulation study is conducted using the model of a two degree of freedom, planar robotic manipulator driven by BLDC motors.en_US
dc.description.sponsorshipScientific and Technological Research Council of Turkiye [121E383, 2211-C]en_US
dc.description.sponsorshipScientific and Technological Research Council of Turkiye, Grant/Award Numbers: 121E383, 2211-Cen_US
dc.identifier.doi10.1049/cth2.12631
dc.identifier.issn1751-8644
dc.identifier.issn1751-8652
dc.identifier.scopus2-s2.0-85184427384en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.urihttps://doi.org/10.1049/cth2.12631
dc.identifier.urihttps://hdl.handle.net/11454/104213
dc.identifier.wosWOS:001158321600001en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherWileyen_US
dc.relation.ispartofIet Control Theory and Applicationsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.snmz20240831_Uen_US
dc.subjectAdaptive Controlen_US
dc.subjectElectric Actuatorsen_US
dc.subjectLyapunov Methodsen_US
dc.subjectManipulator Kinematicsen_US
dc.titleAdaptive control of BLDC driven robot manipulators in task spaceen_US
dc.typeArticleen_US

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