Double-loop adaptive sliding mode control of flexible manipulator based on disturbance observer

Wei Cao, Boning Chai, Jinjie Qiao, Ting Wang, Yi Zhu, College of Computer and Control Engineering, Qiqihar University, s Republic of China, College of Economics and Management, Qiqihar University, s Republic of China

Journal of Vibration and Control

Published online on January 13, 2026

Abstract

Journal of Vibration and Control, Ahead of Print.
In order to further improve the disturbance resistance and tracking speed of the underdriven two-link flexible manipulator, this paper proposes a double-loop adaptive sliding mode control (ASMC) method based on an adaptive sliding mode disturbance ...