Force control for unknown environment using sliding mode controller with gain-scheduled variable hyperplane

In this paper, a new type of sliding mode controller with gain-scheduled variable hyper plane for position and force control is presented. In this controller, the hyper plane in sliding mode controller is continuously adjusted according to the environmental stiffness identified in real time. This controller is applied to force control using a one-degree-of-freedom manipulator system, and the performance of this controller is verified by both simulation and experiments.