Combined observer-controller synthesis for uncertain dynamical systems with applications

Control of a class of nonlinear/uncertain systems is discussed using a variable-structure systems approach. Observations of the states of such systems is also considered. The natural extension to an observer-controller design is illustrated using a computer simulation example of a theta -r manipulator. Next, the problem of path planning is addressed using a combined observer-controller strategy. The aspects of hardware implementation of the proposed observer-controller are then analyzed.>