Uncertainty and distuabnce estimator based control of a two-link manipulator

Abstract

An application of the uncertainty and disturbance estimator (UDE) to the control of a two-link manipulator is shown in this paper. The UDE-based control consists of a tracking controller that uses a reference model and a compensator for the rejection of uncertainty and disturbances. An experimental result of the position control of a two-link manipulator shows that the UDE works with some flaws. Also, we show that the structure of the UDE is very similar to that of the disturbance observer (DOB).