Back-stepping control of two-link flexible manipulator based on extended state observer

In this paper, we propose a novel control scheme to solve trajectory tracking problem of two-link flexible manipulator system. The partly linear flexible system is obtained via using the nonlinear decoupling feedback control method. An extended state observer is introduced to estimate the system's nonlinear part. Back-stepping controller is designed to guarantee manipulator tracking desired trajectory. Simulation results demonstrate the effectiveness of the developed techniques in this paper.