Active vibration suppression approach of flexible joint manipulator with dead zone and unmodeled dynamics*

This paper presents a novel active disturbance suppression approach based on equivalent-input-disturbance (EID) method for single link flexible joint manipulator (FJM) with dead zone and unmodeled dynamics. Furthermore, it carries out the trajectory tracking control of this system without using velocity measurements. The stability is proved based on the separation theorem and the small gain theorem.