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Passivity-Based Twisting Sliding Mode Control for Series Elastic Actuators

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Pubblicato in:Actuators vol. 14, no. 2 (2025), p. 87
Autore principale: Zhang, Hui
Altri autori: Wang, Jilong, Zhang, Lei, Zhang, Shijie, Zhang, Jing, Zhang, Zirong
Pubblicazione:
MDPI AG
Soggetti:
Load
Accuracy
Control algorithms
Tracking control
Neural networks
Controllers
Robots
Design
Sliding mode control
Systems stability
Twisting
Dynamic models
Tracking errors
Actuators
Fuzzy logic
Robotics
Position errors
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Abstract:This paper presents a passivity-based twisting sliding mode control (PBSMC) approach for series elastic actuators (SEAs). To address the time-varying position trajectory tracking control problem in SEAs, a fourth-order dynamic model is developed to accurately characterize the system. The control framework comprises an internal loop and an external loop controller, each designed to ensure precise trajectory tracking. The internal loop controller manages the second derivative of the joint trajectory position error, while the external loop focuses on the error itself. Both controllers are based on the PBSMC methodology to reduce complex nonlinear disturbances and minimize tracking errors. The finite-time convergence of the proposed method is rigorously analyzed. The performance and advantages of the method are evaluated and compared through various simulations.
ISSN:2076-0825
DOI:10.3390/act14020087
Fonte:Advanced Technologies & Aerospace Database