Author(s)

Nizar J. Alkhateeb^*, Hameed K. Ebraheem

Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Kuwait City, Kuwait.

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.

Adaptive Output Observer, Deadzone Compensation, Robot Manipulator, Sliding Mode Control

Alkhateeb, N. and Ebraheem, H. (2024) Observer Based Control for a Class of Systems with Output Deadzone Nonlinearity. Intelligent Control and Automation, 15, 95-107. doi: 10.4236/ica.2024.153006.