Back-stepping control of two-link flexible manipulator based on extended state observer

In this paper, we propose a novel control scheme to solve trajectory tracking problem of two-link flexible manipulator system. The partly linear flexible system is obtained via using the nonlinear decoupling feedback control method. An extended state observer is introduced to estimate the system´s nonlinear part. Back-stepping controller is designed to guarantee manipulator tracking desired trajectory. Simulation results demonstrate the effectiveness of the developed techniques in this paper.