Robust Backstepping Control for a Four-Bar Linkage Mechanism Driven by a DC Motor

  • Mohammad Salah
  • Ahmad Al-Jarrah
  • Enver Tatlicioglu
  • Suleiman Banihani
Article

Abstract

Four-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.

Keywords

Nonlinear system Robust backstepping control Four-bar mechanism Mechatronics 

Nomenclature List

B

vicious damping at motor bearing

C

torsional damping coefficient

cmi

center of mass of the i t h link

ia

motor armature current

J

moment of inertia of the motor rotor and gear

Ji

moment of inertia of the i t h link

K

torsional spring constant

kb

motor electromotive force voltage constant

ke

positive control gain

km

motor torque constant

ko

positive control gain

kη

positive control gain

La

motor armature inductance

Li

length of inertia of the i t h link

mi

mass of inertia of the i t h link

n

gear ratio

Ra

motor rotor armature resistor

ri

location of the center of mass of the i t h link

T

total applied torque on the leading link (i.e., link 2)

TL

mechanical load torque

Tm

motor output torque

Va

applied armature voltage

ε1

arbitrary small positive constant

ε2

arbitrary small positive constant

εi

arbitrary small positive constant

εx

arbitrary small positive constant

λ1

positive constant

λ2

positive constant

λ3

positive constant

σ

small positive constant

\(\ddot {{\phi }}_{i}\)

angular acceleration of the i t h link

\(\dot {{\phi }}_{i}\)

angular velocity of the i t h link

ϕi

angular displacement of the i t h link

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Notes

Acknowledgments

Work of E. Tatlicioglu is partially supported by The Scientific and Technological Research Council of Turkey via grant number 116M272.

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Copyright information

© Springer Science+Business Media B.V., part of Springer Nature 2018

Authors and Affiliations

  1. 1.Mechatronics Engineering DepartmentThe Hashemite UniversityZarqaJordan
  2. 2.Electrical and Electronics Engineering DepartmentIzmir Institute of TechnologyIzmirTurkey

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