Robust Output Feedback controller for a Serial Robotic Manipulator with Unknown Nonlinearities and External Disturbances
Mohammad Al Saaideh,Almuatazbellah M. Boker,Mohammad Al Janaideh,Mohammad Al Saaideh,Almuatazbellah M. Boker,Mohammad Al Janaideh
This paper presents a robust output feedback controller for a n-link serial robotic manipulator with unknown dynamics and external disturbances. First, the robotic manipulator's model is formulated with unknown dynamics, including joint coupling, nonlinearities, and external disturbances. Second, an output feedback controller is proposed by combining a backstepping controller and an extended high-...
