Global output feedback control for multiple robotic manipulators

This paper investigates the global output feedback tracking control problem for multiple robotic manipulators. Firstly, the global nonsingular coordinate transformation to obtain a partially linear system is provided based on the solution of a set of partial differential equations. Then, a new class of velocity observers is designed to estimate the unmeasurable velocities for each system. By employing the estimators, we propose distributed control laws such that the UGAS (uniform global asymptotic stability) is achieved. The theoretical results are further validated by numerical simulations.