Robust Output Feedback Control of Single-Link Flexible-Joint Robot Manipulator with Matched Disturbances Using High...

Area of Science:

• Robotics
• Control Systems Engineering
• Mechatronics

Background:

• Single-link flexible-joint robot manipulators (SFJRMs) typically require multiple sensors for effective control.
• Existing control methods often necessitate full state information, limiting practical applications.
• Parametric uncertainties and matched disturbances pose significant challenges in SFJRM control.

Purpose of the Study:

• To develop a robust output feedback control strategy for SFJRMs using only a position sensor.
• To achieve semiglobal stabilization of the angular position in SFJRM systems.
• To address challenges posed by model uncertainties and matched disturbances.

Main Methods:

• Design of a sliding mode control (SMC) based output feedback controller.
• Utilizing a high-gain observer (HGO) to estimate unknown states from available position measurements.
• Analysis of SFJRM dynamics under the proposed control scheme.

Main Results:

• The proposed SMC controller with HGO achieves semiglobal stabilization of the angular position.
• The control performance using estimated states closely matches that using true states with high HGO gains.
• The technique demonstrates robustness against parametric uncertainties and matched disturbances.

Conclusions:

• A robust output feedback control strategy is successfully developed for SFJRMs using limited sensing.
• The integration of SMC and HGO provides an effective solution for controlling SFJRMs with uncertainties.
• The findings enable more practical and cost-effective implementations of SFJRM control systems.