文献知网节
  • 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.
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

  • 专辑:

    电子技术及信息科学

  • 专题:

    自动化技术

  • 分类号:

    TP242

  • 手机阅读
    即刻使用手机阅读
    第一步

    扫描二维码下载

    "移动知网-全球学术快报"客户端

    第二步

    打开“全球学术快报”

    点击首页左上角的扫描图标

    第三步

    扫描二维码

    手机同步阅读本篇文献

  • CAJ下载
  • PDF下载

下载手机APP用APP扫此码同步阅读该篇文章

下载:4 页码:290-298 页数:9 大小:643k

相关推荐
  • 相似文献
  • 读者推荐
  • 相关基金文献
  • 关联作者
  • 相关视频