A nonlinear high gain observer based input-output control of flexible link manipulator

作者：Mosayebi Masoud^*; Ghayour Mostafa; Sadigh Mohammad Jafar

来源：Mechanics Research Communications, 2012, 45: 34-41.

DOI：10.1016/j.mechrescom.2012.06.004

• Flexible link
• High gain observer
• Input-output
• Control

The input-output control strategy needs all of the states feedback. However, in flexible link robot manipulators, measuring the time rate of elastic degrees of freedom is practically impossible. In this paper, a new nonlinear high gain observer has been developed to estimate the elastic degrees of freedom and their time derivatives. The control strategy is based on an output redefinition approach which stabilizes the zero dynamics of the manipulator. Finally, the results are presented by implementing the proposed observer and controller on a single link flexible manipulator. Numerical simulations will support the validity of our research results.

• 出版日期2012-10