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OFILC represents a novel integration of a linear extended state observer (LESO) and implicit Lyapunov control (IL), a combination that has not been previously explored. Firstly, OFILC introduces friction and gravity moment compensation to reduce the uncertainty of the dynamics model. Secondly, a LESO-based velocity observer is developed to overcome the measurement limitation, providing clean state estimation without the noise amplification issues inherent in signal differentiation. Finally, to address the disturbance problem caused by parameter uncertainty and load differences, LESO is introduced to estimate and compensate for model disturbances online, thereby enhancing robustness and control accuracy compared to the IL approach. Theoretical analyses demonstrate that this controller is uniformly ultimately bounded convergence. Experimental results demonstrate that OFILC offers advantages in terms of high precision, robustness, and low power consumption with different load conditions.<\/jats:p>","DOI":"10.1177\/09596518251383195","type":"journal-article","created":{"date-parts":[[2025,11,4]],"date-time":"2025-11-04T08:30:20Z","timestamp":1762245020000},"page":"334-349","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Robust implicit Lyapunov control for rigid chain lifter with real-time disturbance compensation"],"prefix":"10.1177","volume":"240","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-0292-5189","authenticated-orcid":false,"given":"Wei","family":"Zhao","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Nanjing University of Science and Technology, China"}]},{"given":"Dan","family":"Bao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Nanjing University of Science and Technology, China"}]},{"given":"Yubin","family":"Lin","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Nanjing University of Science and Technology, China"}]},{"given":"Baolin","family":"Hou","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Nanjing University of Science and Technology, China"}]}],"member":"179","published-online":{"date-parts":[[2025,11,4]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2021.107769"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2423660"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2252360"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/0954405416654100"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2022.3223722"},{"key":"e_1_3_2_7_2","first-page":"6083","article-title":"Active disturbance rejection control: Methodology, theoretical analysis and applications","volume":"53","author":"Yi H","year":"2010","unstructured":"Yi H, Wenchao X, Xiaoxia Y. 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