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

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 desired dynamics, an reference trajectory is constructed. Then, based sliding-mode, designed guarantee achievement of dynamics finite-time through convergence error. The main contribution this that proposed control improves by using nonsingular sliding-mode without causing chattering problem. stability closed-loop system validated theoretical analysis Lyapunov theory, effectiveness illustrated simulations two-link robot manipulator.