Output regulation of feedback linearizable system (single link robot manipulator): A cascaded high gain observer approach

Abstract

Tracking and manipulating robots have become increasingly common in recent times in robotics. Cascading high gain observer technique is a useful technique for tracking and manipulating. In cascade high gain observers, saturation is introduced in between observers with lower dimension. The Cascade high gain observer is found to be an excellent tool against the high dimension of the system. If the system has dimension “p” and high gain parameter “k” then the order of the high gain observer is k <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">p</sup> while this does not hold for cascade high gain observer. This paper deals with the cascade high-gain observer for feedback linearizable system satisfying objectives of output regulation. The nonlinear separation principle is also valid for it. Moreover, Cascade high gain observer was found to be excellent for the designing of systems having output feedback control. The system was successfully implemented and it was observed that by using cascaded high gain observers the problem of peaking was limitized to the an order of 1/abselon