Fuzzy Luenberger Observer Design for Nonlinear Flexible Joint Robot Manipulator

The process of controlling a Flexible Joint Robot Manipulator (FJRM) requires additional sensors for measuring the state variables flexible joints. Therefore, taking elasticity into account adds lot complexity as all must be taken during control process. This paper proposes nonlinear observer that controls FJRM, without requiring equipment states. equations are derived in detail FJRM where nonlinearity, order three, is considered. Takagi–Sugeno Fuzzy Model (T-SFM) technique applied to linearize system. Luenberger designed estimate unmeasured states using error correction. developed showed its ability by utilizing only measured signal velocity motor. Stability analysis implemented improve stabilize tested simulation evaluate unknown results proposed algorithm estimated motor angle, gear link angular gear, and with zero steady errors.