Model-free active input–output feedback linearization of a single-link flexible joint manipulator: An improved active disturbance rejection control approach

Traditional input–output feedback linearization requires full knowledge of system dynamics and assumes no disturbance at the input channel and no system’s uncertainties. In this paper, a model-free active input–output feedback linearization technique based on an improved active disturbance rejection...

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Bibliographic Details
Published in:	Measurement and control (London) Vol. 54; no. 5-6; pp. 856 - 871
Main Authors:	Abdul-Adheem, Wameedh Riyadh, Ibraheem, Ibraheem Kasim, Humaidi, Amjad J, Azar, Ahmad Taher
Format:	Journal Article
Language:	English
Published:	London, England SAGE Publications 01.05.2021 Sage Publications Ltd SAGE Publishing
Subjects:	Active control Control theory Disturbances Error feedback Feedback control Feedback linearization Integrators Liapunov functions Manipulators Nonlinear systems Output feedback Rejection Stability analysis State observers System dynamics Uncertainty flexible joint manipulator nonlinear state error feedback extended state observer generalized disturbance Active input–output feedback linearization
ISSN:	0020-2940, 2051-8730
Online Access:	Get full text
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