Control method based on nonlinear extended state observer to tracking the trajectory for mechanical arm

In this paper we propose a novel control based on nonlinear extended state observer, which can effectively control the industrial manipulator system with interference and delay, and the interference delay in the system can be estimated and compensated online by this algorithm. The output of the system can track the trajectory stably. The response time is shorter and the steady-state error is smaller than the controller which is used to be.