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 |
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主期刊名 | 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024 |
出版商 | Institute of Electrical and Electronics Engineers Inc. |
页 | 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 2024 → 14 12月 2024 |
会议
会议 | 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024 |
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国家/地区 | 泰国 |
市 | Bangkok |
时期 | 10/12/24 → 14/12/24 |