Motion control of multilink manipulators without velocity measurement

In the paper the problem of program motion stabilization without velocity measurement for multilink manipulators is investigated. Most of the known strategies of the solving of the motion control problem for mechanical systems such as multilink manipulators are based on the assumption that the measurement of both coordinates and velocities is available. However, in practical applications there are certain difficulties such as the operation of the velocity sensors involves a problem of the noise occurrence. The main approaches to the control problem for multilink manipulators without measuring of the velocities consist in the application of the approximate differentiation of the coordinates of the system as well as in the construction of observers. These approaches are not fully developed for the problem of a non-local stabilization of the manipulators program motions because of such difficulties like a non-linearity and also a non-stationarity of the considered systems. In the paper a method of synthesis of non-linear control law is presented on the base of the observer construction and application of the Lyapunov vector functions method. The novelty of the obtained results consists in the constructing of the observer whose dimension is half of the dimension of the system in the problem of stabilization of a wide class of non-stationary program motions of the multilink manipulators without use of the linearized model.