Irem Saka , Sukru Unver , Erman Selim , Erkan Zergeroglu , Enver Tatlicioglu
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An experimentally verified robust backstepping approach for controlling robotic manipulators actuated via brushless DC motors
This work presents the design and the corresponding stability analysis of a robust backstepping controller for robot manipulators driven by brushless DC motors. The overall stability of the mechanical and electrical subsystems is validated via Lyapunov based arguments. The proposed methodology achieves global practical tracking (i.e., globally uniformly ultimate boundedness) of the desired joint level trajectories despite the presence of uncertainties associated with the dynamical parameters of the mechanical and the electrical actuation system. Experimental studies performed on an in house built 2 link robotic device actuated via brushless DC motors are presented to illustrate the performance and feasibility of the proposed method.
期刊介绍：
Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper.
The scope of Control Engineering Practice matches the activities of IFAC.
Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.
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