... pressure, coupling between two joints, and so on. A nonlinear extended state observer (ESO) is designed to estimate the nonlinearities in the two-joint manipulator system. Both the effectiveness of the nonlinear ESO and stability of the two-joint manipulator system are given by Lyapunov approaches...

...Chao Ren; Yutong Ding; Xiaohan Li; Xinshan Zhu; Shugen Ma This paper presents an extended state observer (ESO) based robust friction compensation scheme for trajectory tracking control of a three-wheeled omnidirectional mobile robot. The proposed approach is practical in implementation...

... allows more flexible and suitable practical implementation. Since only output signal is available for measurement, an extended state observer (ESO) is designed to provide precise estimates of the unmeasurable state together with external disturbances, which facilitates the controller design without any...

... implications on control system design, because it means that an accurate model of the plant is perhaps no longer required. Based on the extended state observer, it is shown that, for an n th order plant, the answer to the above question is indeed yes. In particular, it is shown that the estimation error...