Time-varying observer based discrete control for 2-link robot manipulator

In this paper, an experimental result of the trajectory tracking control of 2-Iink robot manipulator is presented. A nonlinear system has a linear time-varying approximate model around some desired trajectory. This implies that the trajectory tracking control problem is to design a linear time-varying controller to stabilize this approximate model. This is very basic and classical idea, but, the design of linear time varying controller is not necessarily simple. The authors proposed a simple design procedure for the discrete linear time varying pole placement controller and the discrete linear time-varying observer. In this paper, the discrete time varying observer based pole placement technique is applied to an actual 2-link robot manipulator, and, show an experimental result.