Adaptive Sliding Mode Anti-disturbance Control of Flexible Manipulator Systems Based on Disturbance Observer and Backstepping Method

An adaptive backstepping sliding mode control strategy based on a nonlinear disturbance observer (NDO) is proposed for a class of flexible manipulator trajectory tracking problems with disturbance terms. For the observable part of the disturbance signal, NDO is used for observation, and the observation error is converged exponentially by choosing the design parameters. For the system after the introduction of NDO, the adaptive backstepping sliding mode method is applied to design the controller. By using Lyapunov stability theorem, it is demonstrated that the designed control law can achieve the trajectory tracking of the flexible manipulator and ensure the stability of the closed-loop system. The method can better overcome the uncertainty of the system and external random disturbances and effectively improve the trajectory tracking control accuracy with high robustness. The simulation results verify the effectiveness of the algorithm.