Tracking control of robot manipulators actuated by brushless DC motors: Elimination of joint velocity measurements with a robust observer

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dc.authoridSaka, Irem/0000-0002-6423-7299
dc.authoridUnver, Sukru/0000-0002-0836-9799
dc.authoridZergeroglu, Erkan/0000-0002-1211-0448
dc.authoridTatlicioglu, Enver/0000-0001-5623-9975
dc.contributor.authorUnver, Sukru
dc.contributor.authorSelim, Erman
dc.contributor.authorSaka, Irem
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorZergeroglu, Erkan
dc.contributor.authorAlci, Musa
dc.date.accessioned2024-08-31T07:46:48Z
dc.date.available2024-08-31T07:46:48Z
dc.date.issued2024
dc.departmentEge Üniversitesien_US
dc.description.abstractThis 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.en_US
dc.description.sponsorshipThe Scientific and Technological Research Council of Turkiye (TUBITAK) [121E383]en_US
dc.description.sponsorshipThe Scientific and Technological Research Council of Turkiye (TUBITAK),Grant/Award Number: 121E383en_US
dc.identifier.doi10.1002/rnc.7397
dc.identifier.endpage8480en_US
dc.identifier.issn1049-8923
dc.identifier.issn1099-1239
dc.identifier.issue12en_US
dc.identifier.scopus2-s2.0-85191288073en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage8465en_US
dc.identifier.urihttps://doi.org/10.1002/rnc.7397
dc.identifier.urihttps://hdl.handle.net/11454/104208
dc.identifier.volume34en_US
dc.identifier.wosWOS:001207582500001en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherWileyen_US
dc.relation.ispartofInternational Journal of Robust and Nonlinear Controlen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.snmz20240831_Uen_US
dc.subjectActuators Dynamicsen_US
dc.subjectLyapunov Based Stabilityen_US
dc.subjectObserveren_US
dc.subjectRobotic Manipulatorsen_US
dc.subjectRobust Controlen_US
dc.titleTracking control of robot manipulators actuated by brushless DC motors: Elimination of joint velocity measurements with a robust observeren_US
dc.typeArticleen_US

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