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<p>This paper presents a novel robust control scheme to address the joint flexibility issue of space manipulators and achieve precise control over the end-effector’s displacement and velocity. The key factors affecting control accuracy are comprehensively considered, which include uncertainties of flexible stiffness, measurement errors of critical parameters, and external disturbances. For the control algorithm design, a continuous hyperbolic tangent function is employed to replace the conventional sign function, thereby effectively suppressing chattering in control signals. Moreover, a new control design approach is proposed. It combines sequential design and coordinated optimization by introducing an intermediate control variable, which is similar to a sliding mode surface. Through Lyapunov-based stability analysis, theoretical verification demonstrates that the closed-loop control system not only achieves convergence but also ensures robust stability, effectively withstanding various uncertainties and disturbances. Finally, the simulation is provided to verify our control scheme performances.</p>

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Robust Position and Velocity Tracking Control for End-Effectors of Flexible-Joint Space Manipulators Considering Model Uncertainties

  • 期刊论文

  • 发表日期：

    2026年6月2日

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  • Mingxing Li,
  • Xiaoqi Li,
  • Yanbo Wang,
  • Yingmin Jia,
  • Yang Liu

摘要

This paper presents a novel robust control scheme to address the joint flexibility issue of space manipulators and achieve precise control over the end-effector’s displacement and velocity. The key factors affecting control accuracy are comprehensively considered, which include uncertainties of flexible stiffness, measurement errors of critical parameters, and external disturbances. For the control algorithm design, a continuous hyperbolic tangent function is employed to replace the conventional sign function, thereby effectively suppressing chattering in control signals. Moreover, a new control design approach is proposed. It combines sequential design and coordinated optimization by introducing an intermediate control variable, which is similar to a sliding mode surface. Through Lyapunov-based stability analysis, theoretical verification demonstrates that the closed-loop control system not only achieves convergence but also ensures robust stability, effectively withstanding various uncertainties and disturbances. Finally, the simulation is provided to verify our control scheme performances.