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In particular, an improved extended state observer (ESO) synthesized with a continuously differentiable friction model and time-varying gains is presented to estimate system states and unknown dynamics. This ESO outperforms the conventional ones in dealing with friction mutations while avoiding peaking estimation values in the initial stage. By combining the prescribed performance function and the proposed ESO, an independent joint control scheme is proposed for a robotic manipulator to keep the tracking error within a predefined performance bound based only on position measurements. The effectiveness of the proposed control scheme is verified by comparative simulation and experimental results on a six-degrees-of-freedom robotic manipulator with active disturbance rejection controller and PID methods.<\/jats:p>","DOI":"10.3390\/sym16040423","type":"journal-article","created":{"date-parts":[[2024,4,3]],"date-time":"2024-04-03T08:42:34Z","timestamp":1712133754000},"page":"423","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Practical Prescribed Tracking Control of n-DOF Robotic Manipulator with Uncertainties via Friction Compensation Approach"],"prefix":"10.3390","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4353-3283","authenticated-orcid":false,"given":"Chao","family":"Chen","sequence":"first","affiliation":[{"name":"School of Rail Transportation, Shandong Jiaotong University, Jinan 250357, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9781-9677","authenticated-orcid":false,"given":"Fuxin","family":"Du","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shandong University, Jinan 250061, China"}]},{"given":"Bin","family":"Chen","sequence":"additional","affiliation":[{"name":"Shandong Caishan Aluminum Industry Co., Ltd., Taian 271411, China"}]},{"given":"Detong","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Rail Transportation, Shandong Jiaotong University, Jinan 250357, China"}]},{"given":"Weikai","family":"He","sequence":"additional","affiliation":[{"name":"School of Aeronautics, Shandong Jiaotong University, Jinan 250357, China"}]},{"given":"Qiang","family":"Chen","sequence":"additional","affiliation":[{"name":"Shandong Caishan Aluminum Industry Co., Ltd., Taian 271411, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3130-6497","authenticated-orcid":false,"given":"Chengxi","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Internet of Things Engineering, Jiangnan University, Wuxi 214122, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5930-4170","authenticated-orcid":false,"given":"Jin","family":"Wu","sequence":"additional","affiliation":[{"name":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong SAR, China"}]},{"given":"Jihe","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics, Sun Yat-Sen University (Shenzhen Campus), Shenzhen 518107, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,4,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"19093","DOI":"10.1007\/s11071-023-08850-8","article-title":"Adaptive control of n-link hydraulic manipulators with gravity and friction identification","volume":"111","author":"Liang","year":"2023","journal-title":"Nonlinear Dyn."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"2973","DOI":"10.1109\/LRA.2020.2974451","article-title":"A novel adaptive controller for robot manipulators based on active inference","volume":"5","author":"Pezzato","year":"2020","journal-title":"IEEE Robot. 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