The former is a robust auto-disturbance rejection controller (ADRC), which contains nonlinear tracking differentiator (TD), extended-states observer (ESO), nonlinear proportional derivative (N-PD) and compensation of unknown disturbance.

• 首先,在关节空间设计了简单易行的强鲁棒性自抗扰控制器(ADRC),包括非线性跟踪微分器(TD)、扩张状态观测器(ESO)、非线性PD(N-PD)和扰动补偿四个部分。 并与传统PD控制进行了对比,显示了良好的控制性能。