An observer-based design for robust control of robot manipulators

Walter Grossman, Farshad Khorrami, Bernard Friedland

Research output: Contribution to journalConference articlepeer-review


A feedback linearization design for a class of nonlinear systems is described. The control system is an observer-based (full- or reduced-order) design that utilizes estimates of some of the states for both the exact feedback linearization and the linear outer-loop controller. In particular, the approach is applied to the dynamics of multilink robot manipulators. Simulation studies and experimental results on a two-link planar arm are given and contrasted to show the applicability of the proposed methodology. Some practical issues for real-time implementation of the feedback control algorithms are presented.

Original languageEnglish (US)
Pages (from-to)731-736
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 1990
EventProceedings of the 1990 American Control Conference - San Diego, CA, USA
Duration: May 23 1990May 25 1990

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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