Manipulator Control Law Design Based on Backstepping and ADRC Methods

A backstepping-ADRC control law is designed for one-degree of freedom (DOF) link manipulator system with internal and external factor uncertainty. First, the dynamic model of the manipulator is established, and the extended state observer of ADRC is used to estimate the total disturbance. Second, in order to improve the tracking accuracy of position signal, the nonlinear error feedback control law is improved by combining backstepping control method. Finally, the control law designed is simulated and compared. The effectiveness of the proposed method is varied by the simulation.