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For a class of manipulators without velocity measurements in random surroundings, the global output feedback trajectory tracking control problem is researched in this paper. The main challenge is how to deal with the highly coupled terms with unmeasurable velocity and the random noises. Under some reasonable assumptions and some properties of the system, a novel nonlinear observer is skilfully constructed to estimate the velocity. Based on the designed observer, an adjustable global tracking controller is designed such that trajectory tracking error can be made small enough and the state of closed-loop system has an asymptotic gain in the first moment. The trajectory tracking problem of a two-degree-of-freedom manipulator in a random working environment is analysed to verify the reasonability of the assumptions and to demonstrate the effectiveness and advantages of the control strategy.

Global trajectory tracking of a class of manipulators without velocity measurements in random surroundings