Observer-based Adaptive Tracking Control for One-Link Manipulator with Full State Constraints

Abstract

The output feedback tracking control problem for a class of a one-link manipulator with full state constraints is investigated. Firstly, a fuzzy state observer is constructed for estimating the unmeasurable states. Then, by fusion of the new state transformation function and the dynamic surface control method, an observer-based adaptive fuzzy control strategy is established. Moreover, it is proved that the signals in the control systems are bound and the states of systems are never transcended the constraints by using the Lyapunov stability theory. Finally, numerical simulations are performed to validate the feasibility of the proposed methodology.