Adaptive Stabilizing Control by Output-Feedback for a Class of Single-Link Robot System

In this paper, the problem of global adaptive stabilization by output feedback for a family of single-link robot systems is investigated with unknown system parameters but known upper and lower bounds of inertia. To handle this problem, a controller based on high-gain observer is constructed by using backstepping technique and idea of universal control. The global regulation of robot system and global boundedness of the closed-loop system can be achieved by the designed high-gain observer-based controller respectively. The simulation results show the proposed control method is effective.