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

166 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

Bibliographical note

Funding Information:
Manuscript received July 18, 2018; revised November 10, 2018 and January 21, 2019; accepted April 9, 2019. Date of publication May 7, 2019; date of current version March 17, 2021. This work was supported in part by the National Natural Science Foundation of China under Grant 61803109, Grant 11832009, and Grant 61803111, in part by the Innovative School Project of Education Department of Guangdong under Grant 2017KQNCX153 and Grant 2017KZDXM060, in part by the Open Research Project of the State Key Laboratory of Industrial Control Technology under Grant ICT1900303, and in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This paper was recommended by Associate Editor M. Basin. (Corresponding authors: Zhijia Zhao; Choon Ki Ahn.) Z. Zhao is with the School of Mechanical and Electrical Engineering, Advanced Technology Center for Special Equipment, Guangzhou University, Guangzhou 510006, China, and also with the Center for Intelligent Equipment and Network-Connected System, Guangzhou University, Guangzhou 510006, China (e-mail:

Publisher Copyright:
© 2013 IEEE.


  • 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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