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

2017 ◽  
Author(s):  
Muhammad Saad ◽  
Muwahida Liaquat
Keyword(s):  
Robot Manipulator ◽  
High Gain ◽  
Output Regulation ◽  
High Gain Observer ◽  
Single Link ◽  
Linearizable System

scholarly journals Robust Output Feedback Control of Single-Link Flexible-Joint Robot Manipulator with Matched Disturbances Using High Gain Observer

Sensors ◽  
2021 ◽  
Vol 21 (9) ◽  
pp. 3252
Author(s):  
Hameed Ullah ◽  
Fahad Mumtaz Malik ◽  
Abid Raza ◽  
Naveed Mazhar ◽  
Rameez Khan ◽  
...  
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Angular Position ◽  
Output Feedback Control ◽  
High Gain ◽  
Control Technique ◽  
Flexible Joint ◽  
Position Sensing ◽  
High Gain Observer ◽  
Single Link

This article focuses on the output feedback control of single-link flexible-joint robot manipulators (SFJRMs) with matched disturbances and parametric uncertainties. Formally, four sensing elements are required to design the controller for single-link manipulators. We have designed a robust control technique for the semiglobal stabilization problem of the angular position of the link in the SFJRM system, with the availability of only a position sensing device. The sliding mode control (SMC) based output feedback controller is devised for SFJRM dynamics. The nonlinear model of SFJRM is considered to estimate the unknown states utilizing the high-gain observer (HGO). It is shown that the output under SMC using HGO-based estimated states coincides with that using original states when the gains of HGO are sufficiently high. Finally, the results are presented showing that the designed control technique works well when the SFJRM model is uncertain and matched perturbations are expected.

scholarly journals Improved high gain observer design for a class of disturbed nonlinear systems

2021 ◽  
Vol 106 (1) ◽  
pp. 631-655
Author(s):  
M. Farza ◽  
A. Ragoubi ◽  
S. Hadj Saïd ◽  
M. M’Saad
Keyword(s):  
Original System ◽  
Frequency Measurement ◽  
High Gain ◽  
Observer Design ◽  
Robot Arm ◽  
Transient Time ◽  
Fundamental Interest ◽  
High Gain Observer ◽  
Single Link ◽  
Noisy Output

AbstractThis paper provides a redesigned version of the Standard High Gain Observer (SHGO) to cope with the peaking phenomenon occurring during the transient periods as well as the sensitivity to high frequency measurement noise. The observer design is performed for a class of uniformly observable systems with noise free as well as noisy output measurements and the resulting observer is referred to as Non Peaking Filtered High Gain Observer (NPFHGO). The NPFHGO shares the same structure as its underlying SHGO and differs only by its corrective term which is still parameterized by a unique positive scalar up to an appropriate expression involving nested saturations. Of a fundamental interest, the power of the scalar parameter does not exceed one unlike in the case of the SHGO where this power grows from 1 to the system dimension. Moreover, it is shown that the equations of the NPFHGO become identical to those of the SHGO after a transient time horizon that can made arbitrarily small for sufficiently high values of the design parameter. A particular emphasis is put on the case of systems with noisy output measurements. It is shown how a multiple integrator of the corrupted outputs can be cascaded with the original system leading to an augmented system included in the class of systems for which the NPFHGO has been designed. The performance and main properties of the NPFHGO are highlighted and compared to those of its underlying SHGO through simulation results involving a single link robot arm system.

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