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This paper presents an active disturbance rejection control (ADRC) method for modular robot manipulators (MRMs) based on extended state observer (ESO), which solves the problem of trajectory tracking when modular robot manipulators facing the emotional physical human-robot interaction (pHRI). The dynamic model of MRMs is formulated via joint torque feedback (JTF) technique that is deployed for each joint module to design the model compensation controller. ESO is used to estimate the interconnected dynamic coupling (IDC) term and the interference term caused by emotional pHRI. An uncertainty decomposition-based robust control is developed to compensate the friction term. The terminal sliding mode control (TSMC) algorithm is introduced to the controller to provide faster convergence and higher precision control effect. Based on the Lyapunov theory, the tracking error is proved to be ultimately uniformly bounded (UUB). Finally, experiments demonstrate advantages of the proposed method.

Decentralized Robust Active Disturbance Rejection Control of Modular Robot Manipulators: An Experimental Investigation With Emotional pHRI