Output Feedback Stabilization of Flexible Joint Single Link Robotic Manipulator Using Extended Order High-Gain Observer

2020 ◽  
Author(s):  
Hameed Ullah ◽  
Abid Raza ◽  
Fahad Mumtaz Malik ◽  
Muhammad Ibrahim ◽  
Naveed Mazhar ◽  
...  
Keyword(s):  
Output Feedback ◽  
Robotic Manipulator ◽  
High Gain ◽  
Feedback Stabilization ◽  
Flexible Joint ◽  
Output Feedback Stabilization ◽  
High Gain Observer ◽  
Single Link

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 Event-Triggered Output Feedback Stabilization via Dynamic High-Gain Scaling

2018 ◽  
Vol 63 (8) ◽  
pp. 2537-2549 ◽  
Author(s):  
Johan Peralez ◽  
Vincent Andrieu ◽  
Madiha Nadri ◽  
Ulysse Serres
Keyword(s):  
Output Feedback ◽  
High Gain ◽  
Feedback Stabilization ◽  
Output Feedback Stabilization ◽  
Event Triggered

Circle and Popov Criterion for Output Feedback Stabilization of Uncertain Systems

2006 ◽  
Vol 11 (2) ◽  
pp. 137-148 ◽  
Author(s):  
A. Benabdallah ◽  
M. A. Hammami
Keyword(s):  
Dynamical Systems ◽  
Output Feedback ◽  
Uncertain Systems ◽  
Feedback Stabilization ◽  
Stabilizing Controller ◽  
Nominal System ◽  
Output Feedback Stabilization ◽  
Uncertain Dynamical Systems

In this paper, we address the problem of output feedback stabilization for a class of uncertain dynamical systems. An asymptotically stabilizing controller is proposed under the assumption that the nominal system is absolutely stable.

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