Nonlinear observer design for robot manipulators. A survey

A. Abdessameud, M. F. Khelfi

Research output: Contribution to journalConference articlepeer-review


This paper deals with the nonlinear observation theory as it is applied to the class of rigid robot manipulator systems. A survey based on results and design approaches of nonlinear observers for this class of nonlinear systems is presented. We cannot make an analytic comparative study of the proposed methods since they are conceptually different. However, we try to provide the reader insight into (he performance of each method based on experimental results found in literature, and through simulation analysis on a 2-DOF-robot.

Original languageEnglish (US)
Pages (from-to)229-234
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue number17
StatePublished - 2003
Event7th IFAC Symposium on Robot Control, SYROCO 2003 - Wroclaw, Poland
Duration: Sep 1 2003Sep 3 2003

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


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