TITLE:
Observer Based Control for a Class of Systems with Output Deadzone Nonlinearity
AUTHORS:
Nizar J. Alkhateeb, Hameed K. Ebraheem
KEYWORDS:
Adaptive Output Observer, Deadzone Compensation, Robot Manipulator, Sliding Mode Control
JOURNAL NAME:
Intelligent Control and Automation,
Vol.15 No.3,
August
30,
2024
ABSTRACT: In this paper, a combination of model based adaptive design along with adaptive linear output feedback controller is used to compensate for robotic manipulator with output deadzone nonlinearity. The deadzone dynamics are utilized to adaptively estimate the deadzone parameter and a switching function is designed to eliminate the error produced in the adaptive observer dynamics. The overall design of the closed loop system ensures stability in the BIBO criterion.