A Trajectory Tracking Control Based on a Terminal Sliding Mode for a Compliant Robot with Nonlinear Stiffness Joints

A Trajectory Tracking Control Based on a Terminal Sliding Mode for a Compliant Robot with Nonlinear Stiffness Joints

A nonlinear stiffness actuator (NSA) can achieve high torque/force resolution in the low stiffness range and high bandwidth in the high stiffness range. However, for the NSA, due to the imperfect performance of the elastic mechanical component such as friction, hysteresis, and unmeasurable energy co...

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Bibliographic Details
Main Authors: Zhibin Song, Tianyu Ma, Keke Qi, Emmanouil Spyrakos-Papastavridis, Songyuan Zhang, Rongjie Kang
Format: Article
Language:English
Published: MDPI AG 2022-03-01
Series:Micromachines
Subjects:
compliant robot
terminal sliding mode
Lyapunov stability
trajectory tracking
Online Access:https://www.mdpi.com/2072-666X/13/3/409

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https://www.mdpi.com/2072-666X/13/3/409

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