{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T21:41:06Z","timestamp":1772228466568,"version":"3.50.1"},"reference-count":20,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2022,4,16]],"date-time":"2022-04-16T00:00:00Z","timestamp":1650067200000},"content-version":"vor","delay-in-days":105,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62073156"],"award-info":[{"award-number":["62073156"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62103280"],"award-info":[{"award-number":["62103280"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2022,1]]},"abstract":"<jats:p>This paper proposes a super\u2010twisting terminal sliding mode\u2010based robust impedance controller to improve the compliance and robustness in robot\u2010environment interaction. Based on the desired impedance dynamics, an impedance reference trajectory is constructed. Then, based on a super\u2010twisting terminal sliding\u2010mode, the robust impedance controller is designed to guarantee the achievement of the desired impedance dynamics in finite\u2010time through the finite\u2010time convergence of an impedance error. The main contribution of this paper is that the proposed control improves impedance control robustness by using the super\u2010twisting nonsingular terminal sliding\u2010mode without causing the chattering problem. The finite\u2010time stability of the closed\u2010loop control system is validated by theoretical analysis based on the Lyapunov theory, and the control effectiveness is illustrated by simulations on a two\u2010link robot manipulator.<\/jats:p>","DOI":"10.1155\/2022\/9263699","type":"journal-article","created":{"date-parts":[[2022,4,16]],"date-time":"2022-04-16T17:05:08Z","timestamp":1650128708000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Super\u2010Twisting Nonsingular Terminal Sliding Mode\u2010Based Robust Impedance Control of Robots"],"prefix":"10.1155","volume":"2022","author":[{"given":"Yixuan","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2049-6675","authenticated-orcid":false,"given":"Tairen","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiantao","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2022,4,16]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3109160"},{"key":"e_1_2_9_2_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"e_1_2_9_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.678454"},{"key":"e_1_2_9_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2017.12.031"},{"key":"e_1_2_9_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-018-9769-8"},{"key":"e_1_2_9_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2013.2264533"},{"key":"e_1_2_9_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2016.2538741"},{"key":"e_1_2_9_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/tnnls.2019.2912212"},{"key":"e_1_2_9_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2017.07.002"},{"key":"e_1_2_9_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/tsmc.2015.2429555"},{"key":"e_1_2_9_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/tcyb.2018.2828654"},{"key":"e_1_2_9_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/41.679003"},{"key":"e_1_2_9_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/tnnls.2017.2665581"},{"key":"e_1_2_9_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/tnnls.2018.2852711"},{"key":"e_1_2_9_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/tsmc.2019.2920870"},{"key":"e_1_2_9_16_2","doi-asserted-by":"crossref","unstructured":"RovedaL. HaghshenasS. PriniA. DinonT. andPedrocchiN. Fuzzy impedance control for enhancing capabilities of humans in onerous tasks execution Proceedings of the 2018 5th International Conference on Ubiquitous robots June 2018 Honolulu Hawai 406\u2013411 https:\/\/doi.org\/10.1109\/URAI.2018.8441800 2-s2.0-85053514404.","DOI":"10.1109\/URAI.2018.8441800"},{"key":"e_1_2_9_17_2","first-page":"220","article-title":"Robust impedance control of robot manipulators","volume":"6","author":"Chan S. P.","year":"1991","journal-title":"International Journal of Robotics and Automation"},{"key":"e_1_2_9_18_2","doi-asserted-by":"crossref","unstructured":"MohammadiH.andRichterH. Robust tracking\/impedance control: application to prosthetics Proceedings of the American Control Conference July 2015 Chicago Illinoise 2673\u20132678 https:\/\/doi.org\/10.1109\/acc.2015.7171138 2-s2.0-84940934755.","DOI":"10.1109\/ACC.2015.7171138"},{"key":"e_1_2_9_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/tfuzz.2018.2864940"},{"key":"e_1_2_9_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/TPEL.2021.3119029"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2022\/9263699","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1155\/2022\/9263699","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2022\/9263699","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T21:25:38Z","timestamp":1769117138000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2022\/9263699"}},"subtitle":[],"editor":[{"given":"Chao","family":"Zeng","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2022,1]]},"references-count":20,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2022,1]]}},"alternative-id":["10.1155\/2022\/9263699"],"URL":"https:\/\/doi.org\/10.1155\/2022\/9263699","archive":["Portico"],"relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"value":"1076-2787","type":"print"},{"value":"1099-0526","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,1]]},"assertion":[{"value":"2022-01-21","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-04-04","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-04-16","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"9263699"}}