... (ADRC) loop is applied. When the function value reaches outside the switching band, an ESO-based sliding mode control (SMC) loop is applied. Findings The simulated and experimental results show that the proposed control method has higher robustness compared with proportion-integral-derivative (PID...

... of spherical robots in practical engineering, this paper proposes a spherical robot motion controller based on auto-disturbance rejection control (ADRC) with parameter tuning. Design/methodology/approach This paper considers the influences of the spherical shell, internal frame and pendulum on the movement...

... e x t (2) { B θ ̈     +     τ =     τ m − τ f   τ   =     K ( θ − q ) Impedance control ADRC Collaborative robot ESO Torque feedback The design of the joint torque controller is independent...