ROBUST-CONTROL OF ROBOTS VIA LINEAR ESTIMATED STATE-FEEDBACK

In this note we propose a robust tracking controller for robots that r equires only position measurements. The controller consists of two par ts: a linear observer part that generates an estimated error state fro m the error on the joint position and a linear feedback part that util izes this estimated state. It is shown that this computationally effic ient controller yields semi-global uniform ultimate boundedness of the tracking error. An interesting feature of the controller is that it s traightforwardly extends recent results on robust control of robots by linear state feedback to linear estimated-state feedback.