A Modified Energy and Signal Coordination Control Strategy for a Robotic System
A new smooth switching control strategy is devised to ameliorate the position tracking performance of the robotic arms.Firstly,a signal controller is based up the inverse of the modified backstepping sliding model control is project to improve the dynamic property of the system.An energy controller based on port-controlled Hamiltonian system(PCH)was designed and integrated control was introduced as compensation to improve the steady-state performance of the system.Finally,a smooth switching function based on tracking error is devised to achieve smooth switching between signal control and energy control.The permanent magnet synchronous motor(PMSM)motor model is introduced in the design to make the controller more in line with the actual demand,and it is decomposed into position controller and torque controller,which reduce the difficulty of implementation.In the last part of the paper,a two-degree-of-freedom robot is taken as an example to verify the feasibility and advantages of the algorithm.
Robotic manipulator PMSM Hybrid control
Yu Wang Haisheng Yu Jinpeng Yu Herong Wu Xudong liu
Qingdao University,Qingdao 266071,China
国际会议
江苏镇江
英文
278-286
2019-09-20（万方平台首次上网日期，不代表论文的发表时间）