Abstract
In this research, we discuss motion control of link system which is mounted on a foundation with an inclination of unknown angle. Here, the most interesting point is that the link system is assumed to have only internal sensors instead of external sensors. That is, the system can not measure the absolute posture (the direction of the vertical direction) . In this situation, we try to control the absolute posture of the link system.
In this paper, constructing a nonlinear observer for estimating the absolute posture of the link system, we design an exponential stabilizing control law. The notable point of this paper is the simplicity of the result. This simplicity is due to the special features of the system.
