Command Filter Backstepping Control With Error Compensation For Flexible-Joint Manipulator

This paper presents a modified position tracking control strategy using command filtering backstepping for the flexible-joint manipulator. First, the second-order command filter is adopted in the backstepping procedure to derive the virtual control function and its derivatives. The problem of "explosion of complexity" caused by the calculation of the partial derivatives of virtual control inputs is avoided. Second, to reduce the filtering error caused by adopting the command filter, the filtering error compensation is designed, and the stability of the tracking error closed-loop system is verified based on Lyapunov stability theory. Finally, simulation results on single-link flexible-joint manipulator show that the tracking accuracy is increased by about 12.8%, which indicate the position tracking accuracy is guaranteed by the proposed control method.