OUTPUT FEEDBACK REGULATION OF A FLEXIBLE JOINT MANIPULATOR

In this work, the output feedback stabilization problem of a flexible joint manipulator is solved. It is assumed that only the angular position of the end link is measured. The employed approach consists of the asymptotic reconstruction of a full state feedback stabilizing control law, without using a Lyapunov function and by applying a separation principle. Firstly, a full information feedback linearizing controller is designed and, then, a dynamic output feedback (estimating the unmeasured state variables) is synthesized, which asymptotically recovers the full information control law. Digital simulations show excellent performance of the output feedback controlled state trajectories of the manipulator.