A robust output feedback link position tracking controller for BDC RLED robots

Proposes a robust output feedback link position tracking controller for the full-order model used to describe rigid-link electrically-driven robot manipulators actuated by brushed DC motors. The method uses a bank of dynamic filters, with position tracking error as the input, to generate surrogates for the unmeasurable system states. One of these generated filter states is then used in the feedback control strategy. The method is distinguished from previous results by the limited amount of modeling information required, the utilization of only link position measurements, and the overall simplicity of the controller. Even though the approach only requires link position measurements, the controller exhibits good robustness properties while ensuring semiglobal uniformly ultimately bounded link position tracking.