A linear output feedback controller for a 2-DOF parallel robot

This paper studies the problem of output feedback control for a 2-DOF parallel robot. The dynamics of the parallel robots are characterized a set of ordinary differential equations(ODEs). Under the condition of bounded joint velocities, a linear output dynamic compensator is designed to guarantee the semi-global exponential stability of the closed- loop system. The bound of velocity can be made arbitrarily large by appropriately tuning the observer gain, which leads to semi-global stability. Simulation results are given to illustrate the proposed output feedback controller.