Super-Twisting Nonsingular Terminal Sliding Mode-Based Robust Impedance Control of Robots
This paper proposes a super-twisting terminal sliding mode-based robust impedance controller to improve the compliance and robustness in robot-environment interaction. Based on the desired impedance dynamics, an impedance reference trajectory is constructed. Then, based on a super-twisting terminal...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2022/9263699 |
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| Summary: | This paper proposes a super-twisting terminal sliding mode-based robust impedance controller to improve the compliance and robustness in robot-environment interaction. Based on the desired impedance dynamics, an impedance reference trajectory is constructed. Then, based on a super-twisting terminal sliding-mode, the robust impedance controller is designed to guarantee the achievement of the desired impedance dynamics in finite-time through the finite-time convergence of an impedance error. The main contribution of this paper is that the proposed control improves impedance control robustness by using the super-twisting nonsingular terminal sliding-mode without causing the chattering problem. The finite-time stability of the closed-loop control system is validated by theoretical analysis based on the Lyapunov theory, and the control effectiveness is illustrated by simulations on a two-link robot manipulator. |
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| ISSN: | 1099-0526 |