Robust backstepping control of robotic manipulators actuated via brushless DC motors

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dc.contributor.authorSaka, Irem
dc.contributor.authorUnver, Sukru
dc.contributor.authorSelim, Erman
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorZergeroglu, Erkan
dc.date.accessioned2024-08-31T07:49:54Z
dc.date.available2024-08-31T07:49:54Z
dc.date.issued2024
dc.departmentEge Üniversitesien_US
dc.description.abstractThis 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.en_US
dc.description.sponsorshipTrkiye Bilimsel ve Teknolojik Arascedil;trmaen_US
dc.description.sponsorshipNo Statement AvailableDAS:Data sharing is not applicable to this article as no new data were created or analyzed in this study.en_US
dc.identifier.doi10.1007/s40435-024-01485-6
dc.identifier.issn2195-268X
dc.identifier.issn2195-2698
dc.identifier.scopus2-s2.0-85201404692en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.urihttps://doi.org/10.1007/s40435-024-01485-6
dc.identifier.urihttps://hdl.handle.net/11454/105017
dc.identifier.wosWOS:001292754400001en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSpringernatureen_US
dc.relation.ispartofInternational Journal of Dynamics and Controlen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.snmz20240831_Uen_US
dc.subjectNonlinear Controlen_US
dc.subjectIntegrator Backsteppingen_US
dc.subjectSliding Mode Controlen_US
dc.subjectActuator Dynamicsen_US
dc.subjectBrushless Dc Motorsen_US
dc.subjectRobot Manipulatorsen_US
dc.titleRobust backstepping control of robotic manipulators actuated via brushless DC motorsen_US
dc.typeArticleen_US

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