Perturbation Observer-Based Feedback Linearization Control of Robotic Arm Platform

EasyChair Preprint no. 10968

Abstract

This study aims to experimentally control of robotic arm position in the presence of model uncertainties and external disturbances. A feedback linearization controller (FLC) is designed based on a precise dynamic model, in which the perturbations are estimated using an extended state observer (ESO). The ESO employs the angular displacement of the arm as a measurable output, and adds the terms containing perturbations to the system equations as new state variables. By estimating the system states, an accurate model is provided to design the feedback linearization controller for tracking the desired paths of the arm. The stability analyses are presented, indicating the estimation and tracking errors are bounded. Finally, an experimental implementation on a fabricated platform of a robotic arm is given to illustrate the superior performance of the proposed control scheme.This study aims to experimentally control of robotic arm position in the presence of model uncertainties and external disturbances. A feedback linearization controller (FLC) is designed based on a precise dynamic model, in which the perturbations are estimated using an extended state observer (ESO). The ESO employs the angular displacement of the arm as a measurable output, and adds the terms containing perturbations to the system equations as new state variables. By estimating the system states, an accurate model is provided to design the feedback linearization controller for tracking the desired paths of the arm. The stability analyses are presented, indicating the estimation and tracking errors are bounded. Finally, an experimental implementation on a fabricated platform of a robotic arm is given to illustrate the superior performance of the proposed control scheme.

Keyphrases: Experimental implementation, extended state observer, Feedback linearization controller, Perturbation Rejection, robot arm

@Booklet{EasyChair:10968,
  author = {Zahra Ahangari Sisi and Mehdi Mirzaei and Sadra Rafatnia and Mohammad Mohammadi Shahir and Faezeh Pak},
  title = {Perturbation Observer-Based Feedback Linearization Control of Robotic Arm Platform},
  howpublished = {EasyChair Preprint no. 10968},

  year = {EasyChair, 2023}}