An observer-based state feedback controller design for robot manipulators considering actuators´ dynamic

In this paper a state feedback controller is designed for Rigid Link Electrically-Driven (RLED) manipulators actuated by a brushed DC (BDC) motors based on joint velocity estimation. The observer based controller is in fact a model based controller but it can be shown practically that the method is robust against parametric uncertainties. Initially pseudo-velocity filter is proposed to estimate the joint´s velocity, provided joint´s position are measured. Using the measured and estimated states, a controller is designed through the direct Lyapunov method. It is shown that the controller is asymptotically stable in it´s region of attraction, both in position and velocity tracking. To show the validity of the proposed scheme, the algorithm is implemented on a two link planar manipulator actuated by BDC motors.