Traditional input–output feedback linearization requires full knowledge of system dynamics and assumes no disturbance at the input channel and no system’s uncertainties. In this paper, a model-free active input–output feedback linearization technique based on an improved active disturbance rejection control paradigm is proposed to design feedback linearization control law for a generalized nonlinear system with a known relative degree. The linearization control law is composed of a scaled generalized disturbance estimated by an improved nonlinear extended state observer with saturation-like behavior and the nominal control signal produced by an improved nonlinear state error feedback. The proposed active input–output feedback linearization cancels in real-time fashion the generalized disturbances which represent all the unwanted dynamics, exogenous disturbances, and system uncertainties and transforms the system into a chain of integrators up to the relative degree of the system, which is the only information required about the nonlinear system. Stability analysis has been conducted based on the Lyapunov functions and revealed the convergence of the improved nonlinear extended state observer and the asymptotic stability of the closed-loop system. Verification of the outcomes has been achieved by applying the proposed active input–output feedback linearization technique on the single-link flexible joint manipulator. The simulations results validated the effectiveness of the proposed active input–output feedback linearization tool based on improved active disturbance rejection control as compared to the conventional active disturbance rejection control–based active input–output feedback linearization and the traditional input–output feedback linearization techniques.

传统的输入输出反馈线性化需要全面了解系统动力学，并且假设输入通道没有干扰，也没有系统的不确定性。本文提出了一种基于改进主动干扰抑制控制范例的无模型主动输入输出反馈线性化技术，以设计一个已知相对广义广义非线性系统的反馈线性化控制律。线性化控制定律由一个改进的非线性扩展状态观测器（具有类似饱和行为）估计的比例缩放广义干扰和一个改进的非线性状态误差反馈产生的标称控制信号组成。拟议的有源输入输出反馈线性化可实时消除代表所有有害动态的广义干扰，外来干扰和系统不确定性，并将系统转化为系统的相对程度的积分器链，这是有关非线性系统的唯一信息。基于Lyapunov函数进行了稳定性分析，揭示了改进的非线性扩展状态观测器的收敛性和闭环系统的渐近稳定性。通过将建议的主动输入-输出反馈线性化技术应用于单连杆柔性关节机械臂，可以实现对结果的验证。