Abstract
It is well known that the signals delivered by sensors velocities are very noisy and not so useful in control laws. To overcome the problem due to the noisy velocities, we will use a non linear high gain observer based on the notion of uniform observability. As control law we use the linearizing and decoupling computed torque which need the positions and velocities to compute the torque to be applied at each instant. Although the separation principle does not hold it will be shown that the closed loop is stable and both estimation and tracking are well performed. In this paper we will demonstrate the applicability of the method on a two rigid arms robot model.
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