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Trajectory Tracking of Series Elastic Actuators Using Terminal Sliding Mode Control *

In this paper, a continuous-time state-feedback control scheme is proposed by using a new form of adaptive terminal sliding mode for the trajectory tracking control problem of robot manipulators driven by a series elastic actuator. By applying a conditional integral sliding mode surface and online adaptive law for disturbance boundary identification, a terminal sliding mode controller is developed. The robustness of the developed controller is established by the Lyapunov stability theory. A key feature of the proposed controller is the use of varying boundary layers for solving the chattering problem. An application and experimental verification to a series elastic actuator is provided to demonstrate the control effectiveness and significant performance improvements compared with the conventional PID controller.