Performance improvement of flexible robot using combined observer-controller and particle swarm optimization

Performance improvement of flexible robot using combined observer-controller and particle swarm optimization

Fouad HaouariNourdine Bali Mohamed TadjineMohamed Seghir Boucherit

Department of Electrical Engineering, Process Control Laboratory, ENP 10 Avenue Hassan Badi P.O Box 182 Algiers, 16200, Algeria

Electrical Engineering and Computing Faculty, USTHB P.O Box 32 El Alia, Bab Ezzouar Algiers, 16111, Algeria

Corresponding Author Email:
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31 December 2017
| Citation



The aim of this study is to examine the robust control design based on coefficient diagram method with backstepping control combined with an observer for position control of the flexible joint manipulator. A simulation model with stability analysis was established where the parameters of the observer-controller are tuned by means of particle swarm optimization. Through this study, it was found that the proposed control scheme is effective, and the results indicate that ours approach ensures the asymptotic convergence of the actual joints positions to theirs desired trajectory, and robustness where the system is subjected to external disturbance and parameters uncertainties.


flexible robot, backstepping control, coefficient diagram method, nonlinear observer, particle swarm optimization

1. Introduction
2. Robot dynamic and state space model
3. Robot dynamic and state space model
4. Stability analysis of the control system
5. PSO algorithm
6. Simulation results
7. Conclusion

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