Extended State Observer Based Control of Flexible Link Manipulator in Presence of Unknown Payload Dynamics

The design of an observer for estimating states, uncertainty and disturbances in nonlinear plant dynamics is an essential step towards the synthesis of high performance model based control schemes. In this paper, control of flexible link is handled using feedback linearization (FL) technique. The control is made implement able by using the estimates of states, uncertainty and disturbance. The said estimates are obtained using extended state observer (ESO). The proposed scheme is validated for robustness in the presence of maximum uncertainty and periodic disturbance. The stability analysis is also presented. The results are demonstrated via computer simulations.