Synchronizing tracking control for flexible joint robots via estimated state feedback

A. Rodriguez Angeles, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

20 Citations (Scopus)


In this paper, we propose a synchronization controller for flexible joint robots, which are interconnected in a master-slave scheme. The synchronization controller is based on feedback linearization and only requires measurements of the master and slave link positions, since the velocities and accelerations are estimated by means of model-based nonlinear observers. It is shown, using Lyapunov function based stability analysis, that the proposed synchronization controller yields local uniformly ultimately boundedness of the closed loop errors. A tuning gain procedure is presented. The results are supported by simulations in a one degree of freedom master-slave system.
Original languageEnglish
Pages (from-to)162-172
JournalJournal of Dynamic Systems, Measurement and Control : Transactions of the ASME
Issue number1
Publication statusPublished - 2004


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