Abstract: In response to the issues of parameter perturbations,external disturbances,and filtering errors affecting trajectory tracking accuracy in single-joint flexible robotic arm control,a command-filtered sliding mode control method with error compensation was proposed. Firstly,the dynamic equation of the single-joint flexible robotic arm with uncertainties was presented and a backstepping sliding mode control was designed. Then,a second-order command filter was introduced to obtain the derivative of the virtual control signal,thereby avoiding the ″computational explosion″ issue associated with traditional backstepping control. Finally,an error compensation mechanism based on Lyapunov theory was used to eliminate filtering errors generated by the command filter. Simulation results demonstrate that when the system experiences parameter perturbations and external disturbances,the proposed error compensation command-filtered sliding mode control achieves trajectory tracking accuracy improvements of 19.8 % and 74 % compared to command-filtered sliding mode control without error compensation and error compensation command-filtered control methods,respectively.Filtering errors are reduced by 44.4 % and 31.4 %,respectively.

Key words: flexible articulated robotic arm, command-filtered control, sliding mode control, filter error compensation