A Robust Observer Based End-Effector Trajectory Tracking Control of Collaborative Robotic Manipulators Actuated by Brushless DC Motors

Abstract

This study presents the design and the corresponding stability analysis of a robust observer based partial state feedback end-effector tracking controller for collaborative robot manipulators actuated via brushless DC motors. The proposed controller-observer couple compensate for the uncertainties associated with the robot link dynamics, kinematics of the manipulator and joint actuator parameters while not requiring joint velocity measurements. The overall stability and convergence of the error signals into an ultimate bound around origin is ensured via Lyapunov type arguments. Numerical simulation studies are also presented to back the theoretical findings and to illustrate the effectiveness of the proposed methodology. © 2025 Elsevier B.V., All rights reserved.