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

Author

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  • Yixuan Wang
  • Tairen Sun
  • Jiantao Yang
  • Chao Zeng

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.

Suggested Citation

  • Yixuan Wang & Tairen Sun & Jiantao Yang & Chao Zeng, 2022. "Super-Twisting Nonsingular Terminal Sliding Mode-Based Robust Impedance Control of Robots," Complexity, Hindawi, vol. 2022, pages 1-6, April.
    • Handle: RePEc:hin:complx:9263699
    DOI: 10.1155/2022/9263699
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