Journal of Jilin University(Engineering and Technology Edition) ›› 2026, Vol. 56 ›› Issue (8): 2229-2239.doi: 10.13229/j.cnki.jdxbgxb.20250018

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Composite control of disturbance-rejection for two-degree-of-freedom serial flexible manipulator

Guang-xin HAN1(),Yao-yao LIU1,Yu-song SHI1,Yun-feng HU2   

  1. 1.College of Electrical and Control Engineering，Jilin University of Chemical Technology，Jilin 132022，China
    2.College of Communication Engineering，Jilin University，Changchun 130012，China
  • Received:2025-01-02 Online:2026-08-01 Published:2026-09-02

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Abstract:

To address the challenges of internal parameter perturbations and external disturbances in improving trajectory tracking accuracy and suppressing link vibrations for the two-degree-of-freedom serial flexible manipulator in practical implementations， a singular perturbation theory-based composite control strategy is proposed. Firstly， the dynamic model of the two-degree-of-freedom serial flexible manipulator was established using the assumed modes method and Hamilton's principle. Subsequently， based on singular perturbation theory， the system was decomposed into slow and fast subsystems. Then， for the slow subsystem， an incremental nonlinear dynamic inversion control strategy was designed using feedback linearization techniques， aimed at trajectory tracking control of the manipulator. For the fast subsystem， an error sign robust integral control strategy was developed through the integration of error signs and nonlinear feedback， intended for suppressing link chattering of the manipulator. The stability of the closed-loop system was proven using Lyapunov stability theory. Simulation results demonstrate that the proposed composite control strategy exhibits significant advantages in trajectory tracking control and disturbance rejection performance.

Key words: control engineering, two-degree-of-freedom serial flexible manipulator, singular perturbation, incremental nonlinear dynamic inversion, robust integral of the sign of the error, control of disturbance-rejection

CLC Number: 

  • TP273

Fig.1

Picture of a two-degree-of-freedom serial flexible manipulator by Quanser company"

Fig.2

Euler-Bernoulli beam model of the two-degree-of-freedom flexible manipulator"

Fig.3

Block diagram of composite control structure using INDI and RISE for flexible manipulators"

Fig.4

Graph of the sign（x） and sSigmoid（x， a） functions"

Fig.5

Angular velocity tracking curves of servo angles dθ11/dt and dθ21/dt"

Fig.6

Curves of velocity tracking errors de1/dt and de2/dt"

Fig.7

End-effector position tracking trajectory"

Fig.8

Tracking trajectory of servo angles θ11 and θ21"

Fig.9

Variation curves of tracking errors e11 and e21 for servo angles"

Fig.10

Response curves of link deviation angles q12 and q22"

Fig.11

Variation curves of control inputs U1 and U2"

Fig.12

End-effector position tracking trajectory"

Fig.13

Tracking trajectory of servo angles θ11 and θ21"

Fig.14

Variation curves of tracking errors e11 and e21 for servo angles"

Fig.15

Response curves of link deviation angles q12 and q22"

Fig.16

Variation curves of control inputs U1 and U2"

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