Observer-Based Robust Control for Flexible Robotic Manipulators with Model Uncertainties via Fully Actuated System Approaches

Based on fully actuated system (FAS) approaches, this paper investigated a robust trajectory tracking control for flexible robotic manipulators. To start, the dynamic model of flexible robotic manipulator is reformulated into a FAS through a state transformation. Simultaneously, a redefined control problem is established for the modified FAS. An adaptive nonlinear observer is then designed which can estimate model uncertainties and unknown external disturbances. Next, based on the fullactuation characteristic, an adaptive sliding mode controller is developed to guarantee that the system states remain globally constrained and ultimately settle within an arbitrarily small neighborhood around the origin. Finally, the effectiveness and robustness of the proposed algorithm is verified through simulations.