Linear Active Disturbance Rejection Control of a Two-Degrees-of-Freedom Manipulator

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left">Parameters</td><td class="align_center"><i>m</i><sub>1</sub> (kg)</td><td class="align_center"><i>m</i><sub>2</sub> (kg)</td><td class="align_center"><i>l</i><sub>1</sub> (m)</td><td class="align_center"><i>l</i><sub>2</sub> (m)</td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">Value</td><td class="align_center">0.85</td><td class="align_center">0.15</td><td class="align_center">0.3</td><td class="align_center">0.2</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Nominal values of the 2-DOF manipulator system parameters.</div>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: Linear Active Disturbance Rejection Control of a Two-Degrees-of-Freedom Manipulator 