Command Filtering Sliding Mode Control for Flexible Robotic Arms Considering Error Compensation.

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Bibliographic Details
Title:	Command Filtering Sliding Mode Control for Flexible Robotic Arms Considering Error Compensation.
Authors:	Guo, Ye¹ 2653904953@qq.com, Li, Xiaoli² lixiaoli01@tyut.edu.cn
Source:	IAENG International Journal of Computer Science. Apr2026, Vol. 53 Issue 4, p1591-1598. 8p.
Subjects:	Sliding mode control, Backstepping control method, Perturbation theory, Manipulators (Machinery)
Abstract:	In the control of single-joint flexible manipulators, issues such as parameter perturbations, external disturbances, and filtering errors degrade trajectory tracking accuracy. To address these problems, a command-filtered sliding mode control method with error compensation is proposed. First, the dynamic equation of a single-joint flexible manipulator with uncertain terms is presented, and a backstepping sliding mode controller is designed. Then, a second-order command filter is introduced to obtain the derivative of the virtual control signal, thereby avoiding the "computational explosion" problem associated with conventional backstepping control. Finally, based on Lyapunov theory, an error compensation mechanism is designed to eliminate the filtering error caused by the command filter. Results demonstrate that, in the presence of parameter perturbations and external disturbances, the proposed error-compensated command-filtered sliding mode control improves trajectory tracking accuracy by 21.6% and 69.0%, respectively, and reduces filtering error by 45.9% and 32.7%, respectively, compared to command-filtered sliding mode control without error compensation and to error-compensated command-filtered control. [ABSTRACT FROM AUTHOR]
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Database:	Engineering Source

Description
Abstract:	In the control of single-joint flexible manipulators, issues such as parameter perturbations, external disturbances, and filtering errors degrade trajectory tracking accuracy. To address these problems, a command-filtered sliding mode control method with error compensation is proposed. First, the dynamic equation of a single-joint flexible manipulator with uncertain terms is presented, and a backstepping sliding mode controller is designed. Then, a second-order command filter is introduced to obtain the derivative of the virtual control signal, thereby avoiding the "computational explosion" problem associated with conventional backstepping control. Finally, based on Lyapunov theory, an error compensation mechanism is designed to eliminate the filtering error caused by the command filter. Results demonstrate that, in the presence of parameter perturbations and external disturbances, the proposed error-compensated command-filtered sliding mode control improves trajectory tracking accuracy by 21.6% and 69.0%, respectively, and reduces filtering error by 45.9% and 32.7%, respectively, compared to command-filtered sliding mode control without error compensation and to error-compensated command-filtered control. [ABSTRACT FROM AUTHOR]
ISSN:	1819656X