Trajectory tracking control of manipulator using time-varying observer based pole placement technique

For a trajectory tracking control problem of general nonlinear systems, the most basic and classic strategy may be applying linear control technique to a linear time-varying approximate model around some desired trajectory. However, since a time varying controller design method is not necessarily simple, this idea has not been commonly used. The authors proposed the simple design procedure of the pole placement and the state observer for linear time varying systems. Using this techniques, it may become more realistic design method to apply a linear time-varying controller to a trajectory tracking control ploblem for wide class of nonlinear systems. In this paper, we apply the time varying observer based pole placement technique to the trajectory tracking control of 2-link manipulator, to show the applicability of this controller to a practical nonlinear systems.