Abstract
AbstractThis article presents a tracking control approach for a flexible‐joint manipulator (FJM) with single link. This approach can achieve the tracking control objective and reject the influences caused by unmodeled dynamics and dead zone. The main contributions are: (1) a robust tracking control approach for the FJM with single link based on equivalent‐input‐disturbance (EID) method is proposed; (2) the unmodeled dynamics and dead zone are considered simultaneously in the tracking control of the FJM with single link; (3) in the control process, velocity measurements are not required in our approach. The robust stability of the EID‐based approach is proved, and the validity for the FJM with single link is illustrated by simulation results.
Published Version
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