This paper considers a tracking system developed for a full-actuated manipulator with flexible
joints under the following assumptions: torques are control actions, and current loop dynamics
are not considered; the mass-inertial characteristics of the manipulator and other parameters are not
exactly known; the external matched and unmatched disturbances act on the system, and matched
disturbances are not smooth; the derivatives of the reference actions are achievable but are unknown
functions of time; the set of sensors is not complete. Based on the representation of the control plant
model in a block form of input–output with respect to mixed variables (functions of state variables,
external influences and their derivatives), we have developed a combined control law for the case
where the control matrix contains additive uncertain elements. In addition, we have designed the
mixed variable observers of the smallest possible dimension with piecewise linear corrective actions
for two cases: (i) only the generalized coordinates of the manipulator are measured; (ii) only the
angular positions and velocities of the motors are measured. It is shown that in a closed-loop system
with dynamic feedback, a given tracking error stabilization accuracy is provided in the conditions of
incomplete information. We presented the results of numerical simulation of these algorithms for a
single-link manipulator.