This paper proposes an adaptive discrete finite-time synergetic control(ADFTSC) scheme based on a multi-rate sensor fusion estimator for flexible-joint mechanical systems in the presence of unmeasured states and dynamic uncertainties.Multi-rate sensors are employed to observe the system states which cannot be directly obtained by encoders due to the existence of joint flexibilities.By using an extended Kalman filter(EKF),the finite-time synergetic controller is designed based on a sensor fusion estimator which estimates states and parameters of the mechanical system with multi-rate measurements.The proposed controller can guarantee the finite-time convergence of tracking errors by the theoretical derivation.Simulation and experimental studies are included to validate the effectiveness of the proposed approach.
