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| Active Disturbance Rejection Control with Improved Tracking Differentiator for the Two-Degree-of-Freedom Serial Flexible Manipulator |
| LIU Yaoyao, HAN Guangxin*, CHEN Senlin
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| School of Information and Control Engineering, Jilin University of Chemical Technology, Jilin City 132022, China |
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Abstract To address the issue of reduced accuracy in trajectory tracking due to link oscillations in the two-degree-of-freedom serial flexible manipulator, an active disturbance rejection control method based on an improved tracking differentiator is proposed. By establishing the dynamic model of the system, a novel tracking differentiator is designed using the Sigmoid function. Combined with a nonlinear state error feedback control law and an extended state observer, a complete active disturbance rejection control scheme is constructed. Simulation results demonstrate that this method effectively suppresses oscillation phenomena and improves trajectory tracking control performance.
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Published: 11 July 2026
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