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This paper proposes a novel fixed-time integral sliding mode controller foradmittance control to enhance physical human-robot collaboration. The proposedmethod combines the benefits of compliance to external forces of admittancecontrol and high robustness to uncertainties of integral sliding mode control(ISMC), such that the system can collaborate with a human partner in anuncertain environment effectively. Firstly, a fixed-time sliding surface isapplied in the ISMC to make the tracking error of the system converge within afixed-time regardless of the initial condition. Then, a fixed-time backsteppingcontroller (BSP) is integrated into the ISMC as the nominal controller torealize global fixed-time convergence. Furthermore, to overcome the singularityproblem, a non-singular fixed-time sliding surface is designed and integratedinto the controller, which is useful for practical application. Finally, theproposed controller is validated for a two-link robot manipulator withuncertainties and external human forces. The results show that the proposedcontroller is superior in the sense of both tracking error and convergencetime, and at the same time, can comply with human motion in a shared workspace.

Fixed-time Integral Sliding Mode Control for Admittance Control of a Robot Manipulator