Fractional-Order Logarithmic Sliding Mode Control for Sensorless Physical Human-Robot Interaction

Xiaolong Duan, Xizhou Bu, Zhiqiang Ma, Hanlin Dong

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

This paper explores the application of a fractional-order variable structure control strategy to stabilize the end-effector motion in a sensorless physical human-robot interaction system, considering interaction behaviors and lumped uncertainty. Building upon integer-order calculus, specifically the Caputo definition and comparison principles, the Mittag-Leffler uniformly ultimately bounded stability criterion is employed to analyze the proposed fractional-order logarithmic sliding mode manifold. The convergence set of the tracking error is determined based on the sliding motion on this manifold. To achieve active compliant interaction performance, a fractional-order force observer with an adaptive parameter is utilized to reconstruct the operator's interaction behavior without relying on sensors. Experiments conducted with a 3-DoF Phantom Omni haptic manipulator demonstrate the effectiveness of the proposed framework in terms of both transient and steady-state interaction performance.

源语言英语
主期刊名2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024
出版商Institute of Electrical and Electronics Engineers Inc.
1440-1445
页数6
版本2024
ISBN(电子版)9781665481090
DOI
出版状态已出版 - 2024
活动2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024 - Bangkok, 泰国
期限: 10 12月 202414 12月 2024

会议

会议2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024
国家/地区泰国
Bangkok
时期10/12/2414/12/24

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