Design of an H_∞ Observer for NLPV Systems Using Input-Output Data from a Fuzzy-Sliding Mode-SAT Controller for Robotic Manipulators

This paper presents the design of an H<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> observer for a two-link robotic manipulator using input-output data. The observer is developed using Subspace Identification (N4SID) to estimate the system's continuous-time Nonlinear Parameter-Varying (NLPV) state-space model. A Fuzzy-Sliding Mode-SAT controller is applied to the robotic manipulator to ensure robust control performance. The designed observer estimates system states and mitigates the effects of noise and disturbances. The effectiveness of the proposed observer is validated through simulation results.