Yilmaz, B. MelihTatlicioglu, EnverSavran, AydoganAlci, Musa2023-01-122023-01-1220222168-22162168-22322168-22162168-2232https://doi.org/10.1109/TSMC.2022.3224255https://hdl.handle.net/11454/77490This article aims to design a joint space tracking controller for robotic manipulators having uncertainties in their mathematical representations under the additional constraint that joint velocity sensing not being available. A two-part design is followed where in the first part, the modeling uncertainties are dealt with a self-organized adaptive fuzzy-logic (AFL)-based controller where full-state feedback (FSFB) is assumed. The stability analysis yields semiglobally uniformly ultimately bounded tracking results. In the second part, a high-gain joint velocity observer is designed followed by replacing error vectors in the FSFB controller with their saturated versions obtained from the observer design to arrive at a self-organized AFL-based robust output-feedback controller. The stability analysis is performed via a multiple-step Lyapunov-type method where the semiglobal uniform ultimate boundedness of the tracking error is ensured. Comparative experiment results obtained from a planar robotic manipulator are presented to demonstrate the efficacy of the proposed control methodology.en10.1109/TSMC.2022.3224255info:eu-repo/semantics/closedAccessAdaptive fuzzy logic (AFL)fuzzy approximationhigh-gain observer (HGO)Lyapunov methodsoutput-feedback (OFB) controlrobot manipulatorsuniversal fuzzy controllerStabilizationDesignArticleWOS:0008999177000012-s2.0-85144755289Q1Q1