Robust output feedback control of robot manipulators using high-gain observer

Abstract

In this paper, we design a robust output feedback controller for trajectory control of n-link robot manipulators with bounded parametric uncertainties. The state feedback controller with integral control improves tracking error due to limit of the robust feedback gains and use of continuous control input for chattering rejection. High-gain observer is used to estimate joint velocities. We show that the stability of the state feedback control system is asymptotically stable and the output feedback controller recovers the performance achieved under the state feedback controller. The performance of the proposed method is demonstrated by simulation on a 2-link robot manipulator.