Tracking Control of Flexible Joint Single Link Robotic Manipulator via Extended High-Gain Observer

Abstract

This paper presents the output feedback control (OFC) of flexible joint single link robotic manipulator via extended high gain observer (EHGO). Conventional high gain observer (HGO) is sensitive to noise and external disturbances. Therefore, EHGO is used to reject the effect of noise and external disturbances on the output of the system. A feedback linearizing control (FLC) is used to track the desired output of the manipulator and EHGO is used for state estimation. A detailed comparative analysis of HGO and EHGO is presented. The controller and observer designed are validated using simulations and the results show that the EHGO along with globally bounded FLC perfectly tracks the system's output in the presence of noise and external disturbances.