Prosthetic Legs Output Feedback Control via Variable High Gain Observer

2019 ◽  
Author(s):  
Alessandro J. Peixoto ◽  
Ignacio de A.M. Ricart ◽  
Matheus Ferreira dos Reis
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
High Gain ◽  
High Gain Observer

Output feedback control of hypersonic vehicles based on neural network and high gain observer

2011 ◽  
Vol 54 (3) ◽  
pp. 429-447 ◽  
Author(s):  
XinDong Li ◽  
Bin Xian ◽  
Chen Diao ◽  
YanPing Yu ◽  
KaiYan Yang ◽  
...  
Keyword(s):  
Neural Network ◽  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
High Gain ◽  
Hypersonic Vehicles ◽  
High Gain Observer

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.

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