Robust tracking control of flexible manipulators using hybrid backstepping/nonlinear reduced-order active disturbance rejection control

Abstract

This study presents a novel hybrid control strategy for single-link flexible-joint robot manipulators, addressing inherent uncertainties and nonlinear dynamics. By integrating nonlinear reduced-order active disturbance rejection control (NRADRC) with backstepping control, the proposed method effectively estimates and mitigates nonlinear dynamics and external disturbances. Utilizing a nonlinear reduced-order extended state observer (NRESO) enhances resilience to internal and external uncertainties. The global stability of the proposed controller is rigorously established using the Lyapunov approach. Numerical comparisons with state-of-the-art nonlinear control methods demonstrate the superior efficiency and robustness of the proposed approach, especially under varying payloads and disturbances, advancing robotic control solutions.