Tracking controller design for robot manipulators including motor dynamics

Abstract

This research project contains three main aspects. First, an observer-based controller is considered for the flexible-joint robot including actuator dynamics, namely, the DC motor. Assuming the measurable signals are link and motor positions of the robot, a nonlinear observer is proposed which estimates all state variables asymptotically. Based on this observer, a dynamic output feedback controller is presented for the flexible-joint robot including motor dynamics, which guarantees asymptotic tracking of a desired trajectory. Simulation results are provided to illustrate the performance of the observer and controller.