Command Filtering Sliding Mode Control for Flexible Robotic Arms Considering Error Compensation.
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| Title: | Command Filtering Sliding Mode Control for Flexible Robotic Arms Considering Error Compensation. |
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| 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] |
| Copyright of IAENG International Journal of Computer Science is the property of International Association of Engineers (IAENG) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 192720791 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Command Filtering Sliding Mode Control for Flexible Robotic Arms Considering Error Compensation. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Guo%2C+Ye%22">Guo, Ye</searchLink><relatesTo>1</relatesTo><i> 2653904953@qq.com</i><br /><searchLink fieldCode="AR" term="%22Li%2C+Xiaoli%22">Li, Xiaoli</searchLink><relatesTo>2</relatesTo><i> lixiaoli01@tyut.edu.cn</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22IAENG+International+Journal+of+Computer+Science%22">IAENG International Journal of Computer Science</searchLink>. Apr2026, Vol. 53 Issue 4, p1591-1598. 8p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Sliding+mode+control%22">Sliding mode control</searchLink><br /><searchLink fieldCode="DE" term="%22Backstepping+control+method%22">Backstepping control method</searchLink><br /><searchLink fieldCode="DE" term="%22Perturbation+theory%22">Perturbation theory</searchLink><br /><searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: 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] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of IAENG International Journal of Computer Science is the property of International Association of Engineers (IAENG) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 8 StartPage: 1591 Subjects: – SubjectFull: Sliding mode control Type: general – SubjectFull: Backstepping control method Type: general – SubjectFull: Perturbation theory Type: general – SubjectFull: Manipulators (Machinery) Type: general Titles: – TitleFull: Command Filtering Sliding Mode Control for Flexible Robotic Arms Considering Error Compensation. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Guo, Ye – PersonEntity: Name: NameFull: Li, Xiaoli IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 04 Text: Apr2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 1819656X Numbering: – Type: volume Value: 53 – Type: issue Value: 4 Titles: – TitleFull: IAENG International Journal of Computer Science Type: main |
| ResultId | 1 |
