Using the disturbance and speed observers for controlling two-link robot arm is very useful. However, these observers have estimation error, the estimation error is a one of important issue for control performance or stability of the system. Thi...
Using the disturbance and speed observers for controlling two-link robot arm is very useful. However, these observers have estimation error, the estimation error is a one of important issue for control performance or stability of the system. This paper presents the trajectory control method considering the estimation errors. This proposed control scheme provides a class of controllers which can compensate the estimation error of observers. In order to verify the validity of proposed control scheme, simulation results are also presented.