2022/08/09 by Yuzhu Sun, Sun, Yuzhu, Mien Van +7
Engineering · Medicine · #FOS: Computer and information sciences #FOS: Electrical engineering #Prosthetics and Rehabilitation Robotics #Robotics (cs.RO) #Stroke Rehabilitation and Recovery #Systems and Control (eess.SY) #Teleoperation and Haptic Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2208.05065
openalex publication_date 2022/08/09 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.