Observer design for single-link robot arm systems based on sampled and delayed output

Abstract

This paper investigates the problem of continuous observer design for single-link robot arm systems based on sampled and delayed output measurements. By constructing a Lypunov-Krasovskii function, an observer is designed for the systems, which is of continuity and hybrid. Exponential stability of the estimation errors is achieved. The upper bounds of the sampling period and the time delay are also given, respectively. Numerical simulations are given to show the effectiveness of the design method.