Robust control of robots by using a linear observer

Most robust control schemes for rigid robots assume velocities measurements to be available. Although it is possible to measure velocities by using tachometers, this increases costs and the signals delivered may be contaminated with noise. Since the use of encoders allows us to read joint position pretty accurately, sometimes it is desirable to estimate joint velocities through an observer. The paper presents a robust scheme designed in conjunction with a linear observer. Uniform ultimate boundedness for the tracking and observation errors are guaranteed. Some simulations are included to support the theoretical results.