torque control

This paper presents an active disturbance rejection torque control strategy integrated with a Kalman filter for a pneumatic rotary actuator without pressure feedback. The interference from the position system and nonlinearity from friction and air compressibility can lead to chatter and crawl, presenting challenges to achieving precise torque control of pneumatic rotary actuators. A Kalman filter is designed for real-time filtering to address the chattering of active disturbance rejection controller (ADRC) caused by noise of feedback signal.