[Objective] Flexible manipulators are prone to residual vibrations due to their low-stiffness characteristics

resulting in degraded end-effector positioning accuracy. Additionally

dynamic fluctuations caused by load disturbances and load-side positional hysteresis induced by flexible shaft deformation further constrain high-precision control. Although conventional input shaping techniques can suppress vibrations

their open-loop nature fails to simultaneously address these multi-source disturbances. To address these challenges

this paper proposes a zero vibration and derivative-dynamic torque feedback compensation-load position feedback compensation (ZVD-DTFC-LPFC) composite control strategy. [Methods] Based on a dual-inertia system model

an open-loop and closed-loop collaborative architecture was constructed. The open-loop side employs zero vibration and derivative (ZVD) input shaping to suppress residual vibration. The closed-loop side designed dynamic torque feedback compensation (DTFC)

which used a reduced-order state observer to estimate the shaft torque in real time

forming a four-loop cascade control of position-speed-torque-current to resist load disturbances. Additionally

a load position feedback compensation (LPFC) algorithm was designed to dynamically calculate the load position deviation and superimpose it onto the motor encoder signal to eliminate steady-state lag. [Results] Simulation results showed that the residual vibration suppression rate of ZVD-DTFC-LPFC under no-load conditions was 98%; the average dynamic response time under 25%

50%

and 100% load changes was 0.11 s

which was 54% shorter than that of ZVD; the steady-state position lag angle under load was less than 0.005 rad

which was reduced by 97% compared to before compensation. [Conclusion] The ZVD-DTFC-LPFC strategy synergizes open-loop vibration suppression with closed-loop disturbance rejection

achieving multi-objective optimization of vibration

disturbance

and hysteresis. This framework provides a robust paradigm for precision control of flexible manipulators.