AN OUTPUT-FEEDBACK CONTROLLER FOR TRAJECTORY TRACKING OF RLED ROBOTS USING AN OBSERVED BACKSTEPPING APPROACH

This paper presents an output feedback controller for a rigid-link ele ctrically driven (RLED) robot. The controller is designed in conjuncti on with a velocity observer and an electrical current observer using a n observed integrator backstepping procedure. The overall observer-con troller achieves a semiglobal exponential stability result for the lin k position-velocity tracking error as well as the velocity and current observation errors. Simulation study as well as the experimental resu lts of the observer-controller for an RLED robot driven by de motors a re also included.