【摘要】 【目的】为了提高柔性机械臂轨迹跟踪精度，增强抗干扰能力，设计一种基于干扰观测器的单连杆柔性臂分层滑模控制算法。【方法】首先，根据拉格朗日方程结合假设模态法，建立单连杆柔性机械臂的动力学模型；其次，设计滑模干扰观测器，来估计系统的未知干扰；最后，采用分层滑模控制器，对系统进行轨迹跟踪。【结果】仿真结果表明，在进行20 s正弦波y_d=30 sin（πt/5）轨迹跟踪时，该控制算法的抗干扰能力更强，轨迹跟踪误差降低了0.786 4。【结论】该设计以非线性、强耦合、欠驱动的单连杆柔性机械臂为研究对象，利用分层滑模控制算法实现了对系统的轨迹跟踪，引入滑模干扰观测器后，系统轨迹跟踪精度更高、鲁棒性更强。更多还原

【Abstract】 [Purposes] To enhance the trajectory tracking precision and robustness against disturbances for a single-link flexible robotic arm, a hierarchical sliding mode control algorithm incorporating an disturbance observer has been devised. [Methods] Initially, a dynamic model for the single-link flexible robotic arm is formulated using the Lagrange equation in conjunction with the assumed mode method. Subsequently, a sliding mode disturbance observer is developed to estimate the system’s unknown disturbances. Finally, a hierarchical sliding mode controller is employed to perform trajectory tracking for the system. [Findings] Simulation results demonstrate that when tracking the trajectory of a 20 s sine wave y_d = 30 sin(πt/5), the proposed control strategy exhibits stronger disturbance rejection capabilities compared to the hierarchical sliding mode control algorithm, resulting in a reduction of trajectory tracking error by 0.786 4. [Conclusions] This study focuses on a nonlinear, strongly coupled, underactuated single-link flexible robotic arm. The hierarchical sliding mode control algorithm achieves trajectory tracking for the system. With the introduction of the sliding mode disturbance observer, the system achieves higher trajectory tracking accuracy and stronger robustness.更多还原