Robust Adaptive Nonlinear Admittance Control of Robotic Manipulators with Extra-Intra Uncertainties and Disturbances

Robust Adaptive Nonlinear Admittance Control of Robotic Manipulators with Extra-Intra Uncertainties and Disturbances | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Robust Adaptive Nonlinear Admittance Control of Robotic Manipulators with Extra-Intra Uncertainties and Disturbances Shubo Zhang, Zhong Chen, Xianmin Zhang This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4160784/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract This paper focuses on achieving rapid convergence in finite time for robust trajectory tracking of robotic manipulators, which upper-bound uncertainties are unknown. To address the issues of excessive control torque and control reversal at the initial stage, a novel Robust Adaptive Fast Terminal Sliding Mode Control (RAF-TSMC) method is developed. The proposed method provides faster transient response, higher steady-state tracking accuracy, and can eliminate singularities and mitigate chattering effects. To enhance the physical collaboration in human-robot interactions, a novel Nonlinear Admittance Control method with RAF-TSMC is proposed, which benefits from adaptive compliance characteristics of Nonlinear Admittance Control with RAF-TSMC. This improves suppleness and flexibility of human-robot interaction in uncertain environments. Finally, the proposed controller is validated using a two-link robotic manipulator subjected to uncertainty and external forces. The results demonstrate that the proposed RAF-TSMC controller can effectively minimize tracking errors and convergence time, and the proposed Nonlinear Admittance Control with RAF-TSMC can enhances the flexibility and adaptability of the robot system. Robotic manipulators control Robust adaptive control Terminal sliding mode control Nonlinear Admittance Control Physical human-robot collaboration Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4160784","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":284609531,"identity":"d0c34346-aa4e-4e89-9bb2-314f0c038d87","order_by":0,"name":"Shubo Zhang","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAu0lEQVRIiWNgGAWjYFACHgaGBAMJOX5m5sMPiNfyoMDGWLKdLc2AaC2MDz6kJRqc51GQIEqDfP/ZA0CHHU4wPszDYMBQYxNNUAvjjLwEkJY8s8O8Bx4wHEvLbSCkhVmCxwCkpdjsMF+CAWPDYcJa2PjPgLUkbm7mMZAgSgsPQw5IS1riBmZitUhIgP1iYyxxGBjICcT4BRRijD/+AKOy//DhBx9qbAhrAQL2H3BmAhHKR8EoGAWjYBQQAQBVCjp6nP0MigAAAABJRU5ErkJggg==","orcid":"","institution":"","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"Shubo","middleName":"","lastName":"Zhang","suffix":""},{"id":284609532,"identity":"15b1d107-6310-4d55-99d3-3405f7406b6d","order_by":1,"name":"Zhong Chen","email":"","orcid":"","institution":"","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Zhong","middleName":"","lastName":"Chen","suffix":""},{"id":284609533,"identity":"7cf9dddf-301b-4138-85d3-c60fba0af22c","order_by":2,"name":"Xianmin Zhang","email":"","orcid":"","institution":"","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Xianmin","middleName":"","lastName":"Zhang","suffix":""}],"badges":[],"createdAt":"2024-03-25 05:14:16","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4160784/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4160784/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":61048270,"identity":"b3489acb-c803-41d3-b88c-37238035415f","added_by":"auto","created_at":"2024-07-25 03:44:38","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":4319811,"visible":true,"origin":"","legend":"","description":"","filename":"RobustAdaptiveNonlinearAdmittanceControlofRoboticManipulatorswithExtraIntraUncertaintiesandDisturbances.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4160784/v1_covered_2d8ad2b8-d03d-4b12-82c8-27c8be87936a.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Robust Adaptive Nonlinear Admittance Control of Robotic Manipulators with Extra-Intra Uncertainties and Disturbances","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Robotic manipulators control, Robust adaptive control, Terminal sliding mode control, Nonlinear Admittance Control, Physical human-robot collaboration","lastPublishedDoi":"10.21203/rs.3.rs-4160784/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4160784/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"This paper focuses on achieving rapid convergence in finite time for robust trajectory tracking of robotic manipulators, which upper-bound uncertainties are unknown. 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