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Robust tracking control of flexible manipulators using hybrid backstepping/nonlinear reduced-order active disturbance rejection control

Abstract

This study presents a novel hybrid control strategy for single -link flexible -joint robot manipulators, addressing inherent uncertainties and nonlinear dynamics. By integrating nonlinear reduced -order active disturbance rejection control (NRADRC) with backstepping control, the proposed method effectively estimates and mitigates nonlinear dynamics and external disturbances. Utilizing a nonlinear reduced -order extended state observer (NRESO) enhances resilience to internal and external uncertainties. The global stability of the proposed controller is rigorously established using the Lyapunov approach. Numerical comparisons with state-of-theart nonlinear control methods demonstrate the superior efficiency and robustness of the proposed approach, especially under varying payloads and disturbances, advancing robotic control solutions.

article Article
date_range 2024
language English
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Featured Keywords

Flexible manipulator
Active disturbance rejection control (ADRC)
Extended state observer (ESO)
Backstepping control
Tracking control
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