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

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Hameed Ullah , Fahad Mumtaz Malik , Abid Raza , Naveed Mazhar , Rameez Khan , Anjum Saeed , Irfan Ahmad ·

YOU? · · 2021 · Open Access · · DOI: https://doi.org/10.3390/s21093252

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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Control theory (sociology) Observer (physics) Parametric statistics Nonlinear system Link (geometry) Robust control Controller (irrigation) Position (finance) Output feedback Sliding mode control Computer science Robot Nonlinear control Control engineering Control (management) Engineering Control system Mathematics Artificial intelligence Physics Finance Electrical engineering Quantum mechanics Biology Economics Agronomy Statistics Computer network

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Type: article
Language: en
Landing Page: https://doi.org/10.3390/s21093252
PDF: https://www.mdpi.com/1424-8220/21/9/3252/pdf?version=1620697413
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Cited By: 28
References: 55
Related Works: 10
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DOI: https://doi.org/10.3390/s21093252

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

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Language: en

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Publication year: 2021

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Publication date: 2021-05-08

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Authors: Hameed Ullah, Fahad Mumtaz Malik, Abid Raza, Naveed Mazhar, Rameez Khan, Anjum Saeed, Irfan Ahmad

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Landing page: https://doi.org/10.3390/s21093252

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Concepts: Control theory (sociology), Observer (physics), Parametric statistics, Nonlinear system, Link (geometry), Robust control, Controller (irrigation), Position (finance), Output feedback, Sliding mode control, Computer science, Robot, Nonlinear control, Control engineering, Control (management), Engineering, Control system, Mathematics, Artificial intelligence, Physics, Finance, Electrical engineering, Quantum mechanics, Biology, Economics, Agronomy, Statistics, Computer network

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Cited by: 28

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