Jafari, Reza2025-02-052025-02-052025-06-301045-0823https://hdl.handle.net/10919/124501In this paper we present an adaptive nonlinear output feedback controller with high-gain observer. One of the main challenge with the design of nonlinear adaptive controller is the stability concern. The stability analysis of the overall closed loop system is addressed through the Lyapunov theorem. The performance of the proposed controller with high-gain observer is tested on a single manipulator with flexible joints.application/pdfenIn CopyrightConference proceedingJafari, Reza [0000-0002-4520-9305]1045-0823