Virtual decomposition-based trajectory tracking control of robotic manipulators with nonlinear extended state observer

To achieve trajectory tracking control of a robotic manipulator system, it is crucial to establish precise kinematic and dynamic models. Considering the complex characteristics of robotic manipulator, a dynamic modeling method based on virtual decomposition control is proposed. Considering the interaction force between the end effector of the robotic manipulator and the environment, an adaptive controller-nonlinear extended state observer combination control is designed through virtual decomposition control theory. This method virtually decomposes the complex robotic manipulator system into several subsystems, achieving adaptive controller-nonlinear extended state observer combination control for each subsystem. By introducing the concept of virtual power flow into the controller and designing Lyapunov functions based on nonlinear extended state observer error dynamics, the stability of this redundant system is proven.