Super-Twisting Nonsingular Terminal Sliding Mode-Based Robust Impedance Control of Robots. (16th April 2022)

• Record Type: Journal Article
• Authors: Wang, Yixuan; Sun, Tairen; Yang, Jiantao
• Other Names: Zeng Chao Academic Editor.
• Is Part Of: Complexity. Volume 2022(2022)
• Publication Date: 2022-04-16
• Subjects: Chaotic behavior in systems -- Periodicals; Complexity (Philosophy) -- Periodicals; 003
• DOI: 10.1155/2022/9263699
• Languages: English
• ISSNs: 1076-2787

Abstract

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.