Boundary Disturbance Observer-Based Control of a Vibrating Single-Link Flexible Manipulator

Zhijia Zhao, Xiuyu He, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

106 Citations (Scopus)


This paper examines the boundary disturbance observer-based control for a vibrating single-link flexible manipulator system possessing external disturbances. Two new boundary anti-disturbance control strategies are presented to eliminate vibration, track disturbance, and determine angle position for the flexible manipulator system. Achieving rigorous analysis with no model reduction, the derived control can ensure the angle positioning and bounded stability in the controlled system. By appropriately designing parameters, the resulting simulation results can demonstrate the control performance.

Original languageEnglish
Article number8708982
Pages (from-to)2382-2390
Number of pages9
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number4
Publication statusPublished - 2021 Apr


  • Anti-disturbance control
  • boundary control
  • disturbance observer (DO)
  • single-link flexible manipulator
  • vibration control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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