An Adaptive Robust Enhanced Time-Delay Impedance Controller for a Cell Puncture Device With Soft Contact Environment

This paper proposes a novel adaptive robust enhanced time-delay impedance controller (ARETDIC) based on the Hunt–Crossley (HC) model. The proposed ARETDIC is used to precisely control force/position for cell puncture devices operating within a soft interaction environment. Firstly, the impedance model is formulated utilizing the HC model, followed by a comprehensive discussion of its steady-state performance. To attain the target impedance, a new integral terminal sliding mode manifold is proposed by constructing an intermediate variable. Subsequently, the traditional time-delay control framework is enhanced by compensating for the well-known time-delay error using time-delay information from the previous time step. Furthermore, a new adaptive robust term is introduced to ensure the system's robustness against lumped disturbances. The stability of the proposed ARETDIC is proven using the Lyapunov theory. Finally, the superiority and effectiveness of the proposed ARETDIC are verified by experiments. The results indicate that the proposed ARETDIC achieves the best control performance compared to the other three benchmark controllers, successfully completing the cell puncture task