Adaptive Sliding Mode Impedance Control for Complex Interaction Scenarios

Various force control methods still face numerous challenges in complex interaction scenarios, such as the difficulty in dynamic environment or tracking dynamic desired force, as well as the lack of stability guarantee. To address these challenges, this paper proposes an adaptive sliding mode impedance control algorithm. By transforming the traditional impedance equation into a state-space formulation with interaction force as the state variable, theoretical stability guarantee is achieved. Sliding mode variables are introduced to design the controller, enabling desired force tracking and uncertainty compensation. A comparison with the adaptive impedance control algorithm through simulation shows that the proposed method performs better in dynamic environment and desired force, demonstrating the effectiveness and feasibility of the proposed algorithm.