Simulation of sliding mode impedance control for a 6 DOF antrhopomorphic robot

Jan F. Broenink, Martijn Visser, Martin L.J. Tiernego

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review


    Robust control is a way of dealing with model uncertainties that can render the controller less sensitive to modelling errors and disturbances. Herein, the properties of sliding mode control are applied to impedance control to form a robust impedance con-troller. The proposed controller consists of two parts: a nominal part based on a nominal model of the robot and a robustness part compensating for the difference between model and real robot. Different kinds of robustness parts give differences in chatter-ing, steady–state error and complexity. We can control within certain accuracy, if the uncertainty does not exceed certain up-per bounds. The sliding mode impedance controllers were verified by simu-lations and compared to the old computed torque controller. The parameter uncertainty ranges from 0.5 to 2. Simulations show that the sliding mode controllers have a small impedance error. For these uncertainties the computed torque controller has large errors, or becomes unstable. Some qualitative tests have been carried out showing the control laws have been implemented correctly. However, quantitative experiments need to be done to validate the control laws. Fur-thermore, we recommend to make the boundary layer width adaptive, to always have the highest accuracy possible while keeping robustness
    Original languageEnglish
    Title of host publicationSimulation: past, present and future
    Subtitle of host publication12th European Simulation Multiconference 1998 : ESM'98 : June 16-19, 1998, Manchester, United Kingdom
    EditorsRichard Zobel, Ditmar Moeller
    Place of PublicationSan Diego, CA
    PublisherSociety for Computer Simulation International
    Number of pages5
    ISBN (Print)1-56555-148-6
    Publication statusPublished - 16 Jun 1998
    Event12th European Simulation Multiconference, ESM 1998 - Manchester, United Kingdom
    Duration: 16 Jun 199819 Jun 1998
    Conference number: 12


    Conference12th European Simulation Multiconference, ESM 1998
    Abbreviated titleESM
    Country/TerritoryUnited Kingdom


    • METIS-113482
    • IR-99983


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