Independent Reference Model–Based Antidisturbance Control for Single‐Joint Manipulator

This paper proposes an antidisturbance backstepping control method based on an independent reference model to address the trajectory tracking problem of single‐joint manipulators subject to external disturbances. First, a nonlinear dynamic model of the manipulator is established, and a basic backstepping controller is designed to derive the independent reference model. On this basis, a generalized state error vector is constructed, and an antidisturbance backstepping controller is developed via Lyapunov stability theory to realize dynamic disturbance compensation. The global asymptotic stability of the closed‐loop system is strictly proved through Hurwitz stability analysis. Simulation results demonstrate that under pulse, step, and continuous sinusoidal disturbances, the proposed method significantly outperforms traditional backstepping control in terms of robustness, effectively suppresses angular position deviation and oscillation phenomena, and achieves high‐precision trajectory tracking.