Observer-Based Output Feedback Tracking Control for Flexible Joint Space Manipulator with Output Constraints
Publication: Journal of Aerospace Engineering
Volume 37, Issue 1
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.
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Data Availability Statement
All data, models, and code generated or used during the study appear in the published article.
Acknowledgments
This paper was supported by the National Natural Science Foundation of China (11972026 and U2013206).
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Information & Authors
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Published In
Journal of Aerospace Engineering
Volume 37 • Issue 1 • January 2024
Copyright
© 2023 American Society of Civil Engineers.
History
Received: Dec 9, 2022
Accepted: Aug 9, 2023
Published online: Oct 11, 2023
Published in print: Jan 1, 2024
Discussion open until: Mar 11, 2024
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