Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/9051
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dc.contributor.authorSalah, Mohammad-
dc.contributor.authorAl-Jarrah, Ahmad-
dc.contributor.authorTatlıcıoğlu, Enver-
dc.contributor.authorBanihani, Suleiman-
dc.date.accessioned2020-07-25T22:03:19Z
dc.date.available2020-07-25T22:03:19Z
dc.date.issued2019-05
dc.identifier.issn0921-0296
dc.identifier.issn1573-0409
dc.identifier.issn0921-0296-
dc.identifier.issn1573-0409-
dc.identifier.urihttps://doi.org/10.1007/s10846-018-0811-y
dc.identifier.urihttps://hdl.handle.net/11147/9051
dc.description.abstractFour-bar linkage mechanisms have dragged the attention of many specialists due to its importance in the academic and industrial sectors. Hence, a lot of research work has been conducted to understand their complex behavior and explore various control techniques. In fact, such mechanisms possess highly nonlinear dynamics that require advanced nonlinear control methods. In addition, the four-bar linkage mechanism is exposed to significant dynamic fluctuations at high speeds due to the system inertias. In this paper, a backstepping control algorithm with a robust scheme is designed and applied on the four-bar linkage mechanism to investigate and explore its dynamical performance under various operating conditions and without a priori knowledge of the model parameters. Five operating conditions are introduced and tested in numerical simulations to show that the proposed nonlinear controller successfully regulates and tracks the speed of the driving link of the mechanism and shows a satisfactory performance.en_US
dc.language.isoenen_US
dc.publisherSpringer Verlagen_US
dc.relation.ispartofJournal of Intelligent and Robotic Systems: Theory and Applicationsen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectNonlinear systemen_US
dc.subjectRobust backstepping controlen_US
dc.subjectFour-bar mechanismen_US
dc.subjectMechatronicsen_US
dc.titleRobust backstepping control for a four-bar linkage mechanism driven by a DC motoren_US
dc.typeArticleen_US
dc.authorid0000-0001-5623-9975
dc.institutionauthorTatlıcıoğlu, Enver
dc.institutionauthorTatlıcıoğlu, Enver-
dc.departmentIzmir Institute of Technology. Electronics and Communication Engineeringen_US
dc.identifier.volume94en_US
dc.identifier.issue2en_US
dc.identifier.startpage327en_US
dc.identifier.endpage338en_US
dc.identifier.wosWOS:000463648500003
dc.identifier.scopusSCOPUS:2-s2.0-85044471164
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1007/s10846-018-0811-y-
dc.relation.doi10.1007/s10846-018-0811-yen_US
dc.coverage.doi10.1007/s10846-018-0811-yen_US
item.openairetypeArticle-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextNo Fulltext-
item.grantfulltextnone-
item.languageiso639-1en-
item.cerifentitytypePublications-
crisitem.author.deptDepartment of Electrical and Electonics Engineering-
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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