Dynamic Surface Control of Robot Manipulators Based on States Observer

Abstract

A design scheme for rigid robot manipulators with disturbance is proposed based on the state observer and the dynamic surface control(DSC).The proposed approach only requires the feedback of link position states without the velocity information.The immeasurable link velocity of the robot model is estimated by using a state observer.The control law is determined using the states estimates and the DSC.Compared with the existing robot control based on backstepping,the proposed controller is more simple.By using Lyapunov technique,the boundedness and convergence of the observer errors and tracking errors are analyzed,and it is proved that all signals in closed-loop system are uniformly ultimately bounded.Simulation results show the effectiveness of the scheme.