This paper proposes a dual-loop adaptive control strategy based on system energy and integral compensation in moderately high-stiffness or parameter-mismatched environment. The inner loop utilizes a system energy algorithm to monitor the passivity of contact energy flow, adaptively truncating the feedback force gain to dissipate collision energy and suppress oscillation, thereby ensuring system stability. The outer loop employs an integral compensator with dead zone and adaptive gain to correct the reference trajectory, accurately eliminating the steady-state error induced by the inner loop. Simulation and experimental results demonstrate that under stiff or parameter-mismatched conditions (up to 7000 and 10000 N/m), the proposed strategy effectively absorbs oscillation, eliminates steady-state chattering, and achieves high-accuracy force tracking. This method successfully decouples the contradiction between contact stability and tracking accuracy. The research provides a valuable solution for contact-based tasks in the industrial field, such as precision grinding and assembly.
Li et al. (Fri,) studied this question.