Super-Twisting Nonsingular Terminal Sliding Mode-Based Robust Impedance Control of Robots

Yixuan Wang, Tairen Sun, Jiantao Yang and Chao Zeng

Complexity, 2022, vol. 2022, 1-6

Abstract: 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.

Date: 2022
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/complexity/2022/9263699.pdf (application/pdf)
http://downloads.hindawi.com/journals/complexity/2022/9263699.xml (application/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:9263699

DOI: 10.1155/2022/9263699

Access Statistics for this article

More articles in Complexity from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().