Backstepping and ADRC Techniques Applied to One-DOF Link Manipulator with External Disturbances and Input Saturation

摘要

In this paper, via the active disturbance rejection control (ADRC), backstepping technique as well as the auxiliary system, we focus on the position control problem for one-DOF link manipulator with external disturbances and input saturation. The extended state observer (ESO) does not depend on the accurate model of systems, which is utilized to compensate external disturbances. The auxiliary system is employed to overcome the control input saturation. It is shown, from the input to state stability (ISS) and Lyapunov stability theorem, that the tracking error can be gradually converged into arbitrarily small neighborhood of the origin. The simulation results are given to illustrate the effectiveness of the proposed tracking control scheme.