This article focuses on the output feedback control of single-link flexible-joint robot manipulators (SFJRMs) with matched disturbances and parametric uncertainties. Formally, four sensing elements are required to design the controller for single-link manipulators. We have designed a robust control technique for the semiglobal stabilization problem of the angular position of the link in the SFJRM system, with the availability of only a position sensing device. The sliding mode control (SMC) based output feedback controller is devised for SFJRM dynamics. The nonlinear model of SFJRM is considered to estimate the unknown states utilizing the high-gain observer (HGO). It is shown that the output under SMC using HGO-based estimated states coincides with that using original states when the gains of HGO are sufficiently high. Finally, the results are presented showing that the designed control technique works well when the SFJRM model is uncertain and matched perturbations are expected.

中文翻译：

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高增益观测器的具有匹配干扰的单连杆柔性关节机器人机械臂的鲁棒输出反馈控制

本文重点介绍具有匹配干扰和参数不确定性的单链接柔性关节机器人操纵器（SFJRM）的输出反馈控制。正式地，需要四个传感元件来设计用于单连杆机械手的控制器。我们设计了一种鲁棒的控制技术，用于解决SFJRM系统中链节角位置的半全局稳定问题，并且仅提供了位置检测设备。基于滑模控制（SMC）的输出反馈控制器是为SFJRM动态设计的。SFJRM的非线性模型被认为可以利用高增益观测器（HGO）估计未知状态。结果表明，当HGO的增益足够高时，使用基于HGO的估计状态的SMC下的输出与使用原始状态的输出一致。最后，