“…They are mainly used to optimize the process of updating controller parameters to make it approach quickly and ensure accuracy [ 16 ]. Moreover, with the development of the BK operator, some improved BK operators, such as λ -BK [ 17 , 18 ], -BK [ 19 ], -BK [ 20 ], and other methods, have also been developed [ 21 , 22 , 23 , 24 ]. In this paper, a new BKS operator, which is introduced in [ 25 ], is implemented in the manipulator controller to optimize the parameter update process of the disturbance observer and improve the trajectory tracking accuracy of the robotic manipulator controller.…”