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Pneumatic Compliant End-effector Using Multi-compensation Integrated Nonlinear Active Disturbance Rejection Control

ZHANG Shuzhong, WU Qianxin,DAI Fuquan, WANG Yabing,ZHANG Gong

doaj（2025）

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Key words
force control,pneumatic system,LuGre friction model compensation,gravity compensation,active disturbance rejection control
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