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In this paper, a force/position control method is proposed for constrained reconfigurable manipulators based on extended state observer (ESO). First, the reduced-order dynamic model of the reconfigurable manipulator is formulated in the presence of the external constraint. Second, a backstepping sliding mode force/position controller is designed with extended state observer, which is used to estimate...
Based on Extended State Observer(ESO) and Lyapunov stability theory, a backstepping sliding mode decentralized control algorithm for reconfigurable manipulators is proposed in this paper. The dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. The backstepping technology is used to design the sliding mode decentralized controller. ESO which is used to model...
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