An output feedback controller for trajectory tracking of RLED robots using an observed backstepping approach

摘要

This paper presents an output feedback controller for a rigid-link electrically driven (RLED) robot. The controller is designed in conjunction with a velocity observer and an electrical current observer using an observed integrator backstepping procedure. The overall observer-controller achieves a semiglobal exponential stability result for the link position-velocity tracking error as well as the velocity and current observation errors. Simulation study as well as experimental results of the observer-controller for a RLED robot driven by de motors are also included.