Integral sliding mode ADRC of modular robot manipulators using joint torque sensing: an experimental verification

Aiming at the uncertain terms of the modular robot manipulator (MRM) system model and the interconnected dynamic coupling (IDC) terms between subsystems, the extended state observer (ESO) is used to estimate and compensate the IDC term and friction term. Integral sliding mode ADRC is proposed in this paper, which can reduce the steady-state error and solve the problems of large overshoot and long adjustment time. Under the condition of large initial error situation, by adjusting the integral term factor, and the system is stable. Theoretical analysis and experimental research verify the effectiveness of the proposed integral sliding mode ADRC of MRM using joint torque sensing method.