A Novel Robust Finite-Time Trajectory Control With the High-Order Sliding Mode for Human–Robot Cooperation

摘要

Human-robot cooperation is the major challenges in robot manipulator control, as the controller has to couple the complicated motion of the human arm and the robot end-effectors. To improve the human-robot coordination, this paper proposed a novel robust finite-time trajectory control based on the nonsingular fast terminal sliding mode and the high-order sliding mode. The proposed method is able to quickly reach the global convergence and minimize motion errors. Based on the nonsingular fast terminal sliding surface, the proposed control method employed a super-twisting algorithm to eliminate the chattering issues to enhance the control robustness. Also, the simplified robust control term does not require the first derivative of the sliding variable. To validate the proposed controller, theoretical analysis and simulation were conducted and the results demonstrated the effectiveness of the proposed method.