An Active Disturbance Rejection Control Method for Robot Manipulators.

This paper proposed an active disturbance control method for tracking control of robot manipulators. Firstly, all of the system uncertainties and external disturbances are considered as an extended variable and a disturbance observer is used to exactly approximate this total uncertainty. Therefore, accurate information is provided for the control loop and chattering behavior in the control input is significantly reduced. Next, to improve the response speed and tracking accuracy, a sliding mode control is synthesized by combining the non-singular fast terminal sliding mode control and the designed observer. The proposed is reconstructed using backstepping control to obtain the asymptotic stability for the whole control system based on Lyapunov theory. Finally, the examples are simulated to demonstrate the effectiveness of the proposed control method.