One-DOF link manipulator control through active disturbance rejection approach

We are concerned with the control issue for the joint angular of a one-DOF link manipulator in this paper by the active disturbance rejection control (ADRC) method. A novel extended state observer (ESO) is proposed to improve the convergence of the observer by adding and modifying a nonlinear region in the fal function. Taking the moment of the joint as a control input, the ADRC strategy is proposed utilizing the estimation value of the extended state. In theory, the convergence of the closed-loop system of one-DOF link manipulator is analyzed by the Lyapunov function.