Disturbance observer‐based L ₁ robust tracking control for single‐link flexible‐joint manipulator systems

In this study, a novel disturbance observer-based (DOB) L 1 robust anti-disturbance tracking control problem is discussed for a kind of single-link flexible-joint manipulator with separate types of disturbances. On the one hand, a disturbance observer is imported to estimate the modelable disturbances. On the other hand, the introduction of L 1 performance index optimises the impact of unmodelled disturbances on the system. A DOB...