Observer-Based Output Feedback Tracking Control for Flexible Joint Space Manipulator with Output Constraints

Abstract

This paper proposed an observer-based output feedback tracking controller with output constraints for the rigid-link flexible-joint space manipulator system considering the dynamic damping caused by the torque change. By combining the Barrier Lyapunov function, backstepping, coordinate transformation, dynamic scaling, and globally exponentially convergent velocity observer, the proposed scheme maintains the simplicity of independent design of observer and controller, where the observation gains and control gains can be designed separately.