记笔记

A Modified Energy and Signal Coordination Control Strategy for a Robotic System

Yu WangHaisheng YuJinpeng YuHerong WuXudong liu

Qingdao University

摘要：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.

关键词：

Robotic manipulator; PMSM; Hybrid control;

会议名称：

2019中国智能自动化大会（CIAC 2019）

会议时间：

2019-09-20

会议地点：

中国江苏镇江