Active Disturbance Rejection Control for a Flexible-Joint Manipulator

This paper focuses on experimental verification of Active Disturbance Rejection Control (ADRC) on a one-link flexible-joint manipulator. The complexity of the considered system limits the ease of modeling and thus the performance of model-based control methods. ADRC is proposed in this research as an alternative to these techniques. It uses a disturbance observer to actively compensate the effects of perturbations acting on the system. A set of experiments was conducted in order to examine the robustness of the proposed control framework. The results obtained show that the ADRC method managed to stay robust against nonlinear behavior of the flexible-joint system as well as its dynamics parameters variations.

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