机译:基于分段扩展状态观察者的双关节Dexterous手动系统的角度跟踪控制
State Key Laboratory of Precision Measuring Technology and Instruments Tianjin University Tianjin 300072 China;
School of Automation Beijing Institute of Technology Beijing 100081 China;
School of Automation Beijing Institute of Technology Beijing 100081 China;
School of Automation Beijing Institute of Technology Beijing 100081 China;
Piecewise extended state observer; proportional-derivative controller; Double-joint dexterous hand system; Pneumatic artificial muscles;