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Backstepping Control of Flexible Joint Manipulator Based on Hyperbolic Tangent Function with Control Input Constraint

This paper investigates the problem of trajectory tracking control of the link angle and angle speed of flexible joint manipulator under the condition of control input constraint and disturbance. The backstepping control method is used to design the controller for the flexible joint manipulator, and the smooth hyperbolic tangent function is used to approximate the model of the control input constraint. The Lyapunov function is used to analyze the stability of the closed-loop system. The numerical simulation results verify the tracking performance of the proposed backstepping controller in the presence of control input constraint and disturbance.