Control of a flexible joint robot manipulator via a non-linear control-observer scheme

Abstract

A non-linear controller-observer scheme for the output tracking of a class of non-linear singularly perturbed systems based on a two-time scale sliding-mode technique and a high gain estimator, is presented. An analysis of stability of the resultant closed-loop system is given. The proposed scheme is applied to the model of a two degrees of freedom flexible joint robot to show the controller-observer methodology proposed.