Model-Assisted Reduced-Order ESO Based Command Filtered Tracking Control of Flexible-Joint Manipulators with Matched and Mismatched Disturbances

Flexible-joint manipulators (FJMs) have been widely used in the fields of industry, agriculture, medical service, aerospace, etc. However, the FJMs in practical applications inevitably encounter various uncertainties including matched and mismatched disturbances. In this paper, we consider the high...

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Bibliographic Details

Published in:	Applied Sciences
Main Authors:	Changzhong Pan, Xiangyin Fei, Jinsen Xiao, Peiyin Xiong, Zhijing Li, Hao Huang
Format:	Article
Language:	English
Published:	MDPI AG 2022-08-01
Subjects:	flexible-joint manipulators reduced-order extended state observer (RESO) backstepping command filter error compensation
Online Access:	https://www.mdpi.com/2076-3417/12/17/8511