An Integral Sliding-Mode Control Approach for Series Elastic Actuator Torque Control

In this paper, an integral sliding-mode control(ISMC) approach for the SEA torque control is presented. The controller is efficient even in the presence of external disturbances. In particular, the general dynamics of SEA system is described and some model transformation operations are performed, and then an integral sliding-mode controller is designed, on the basis of which some theoretical analysis is implemented to show the stability and boundedness of the closed-loop signals. Both simulation and experimental results are included to demonstrate the designed controller achieves improved performance than existing method and shows strong robustness with respect to extraneous disturbances.