Model-Free Control to Maneuver an Uncertain 2-DOF Manipulator Robot

A model-free control approach-based solution for the trajectory tracking control problem of an uncertain flat system is presented. The solution was accomplished by solving a nonlinear uncertain second-order flat system. The unknown matching dynamics are identified through a conveniently proposed algebraic estimator or iterated integrator. The non-available states were obtained by applying a high-gain observer. The stability analysis of the closed-loop system, together with the high-gain observer, was accomplished through the Lyapunov method. The effectiveness of the proposed controller was evaluated in a partially known 2-DOF manipulator, having obtained satisfactory results.