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

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Article number8830410
Pages (from-to)130874-130882
Journal / PublicationIEEE Access
Online published10 Sep 2019
Publication statusPublished - 2019



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.

Research Area(s)

  • Finite-time trajectory control, high-order sliding mode, human-robot cooperation, nonsingular fast terminal sliding mode