Fixed‐time integral sliding mode control for admittance control of a robot manipulator

DOI10.1002/RNC.7150arXiv2208.05065MaRDI QIDQ6117751FDOQ6117751

Authors: Mien Van, Seán Mc Loone, Dariusz Ceglarek 

Publication date: 20 March 2024

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Abstract: This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control and high robustness to uncertainties of integral sliding mode control (ISMC), such that the system can collaborate with a human partner in an uncertain environment effectively. Firstly, a fixed-time sliding surface is applied in the ISMC to make the tracking error of the system converge within a fixed-time regardless of the initial condition. Then, a fixed-time backstepping controller (BSP) is integrated into the ISMC as the nominal controller to realize global fixed-time convergence. Furthermore, to overcome the singularity problem, a non-singular fixed-time sliding surface is designed and integrated into the controller, which is useful for practical application. Finally, the proposed controller is validated for a two-link robot manipulator with uncertainties and external human forces. The results show that the proposed controller is superior in the sense of both tracking error and convergence time, and at the same time, can comply with human motion in a shared workspace.

Full work available at URL: https://arxiv.org/abs/2208.05065

zbMATH Keywords

integral sliding mode controlrobot manipulatorfixed-time convergencephysical human-robot collaborationadmittance control

Mathematics Subject Classification ID

Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85) Finite-time stability (93D40)

Cites Work

• Integral Sliding Mode Control for Nonlinear Systems With Matched and Unmatched Perturbations
• Non-singular terminal sliding mode control of rigid manipulators
• Nonlinear Integral-Type Sliding Surface for Both Matched and Unmatched Uncertain Systems
• Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems
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• Distributed robust finite-time nonlinear consensus protocols for multi-agent systems
• Robust fault tolerant control of robot manipulators with global fixed-time convergence
• Adaptive neural integral sliding‐mode control for tracking control of fully actuated uncertain surface vessels

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