TY - GEN
T1 - Robot joint position control based on sliding mode and the port-controlled hamiltonian method
AU - Xu, Xu
AU - Yu, Haisheng
AU - Liu, Xudong
AU - Zhao, Bingkun
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/6
Y1 - 2018/7/6
N2 - This paper investigates the problem of position tracking control for joint robot systems. A sliding mode control method combined with Port-Controlled Hamiltonian (PCH) is introduced to cope with the chattering problem of joint robot systems only controlled by the sliding mode control scheme. Firstly, the mathematical model of robot system and permanent magnet synchronous motor (PMSM) drive system are given in this paper. Then, the sliding mode control technique is utilized to design signal controllers for fast steady-state performance. And the PCH method is used for constructing energy controllers to decreasing energy losses. In addition, a coordination strategy is constructed to coordinate sliding mode control and PCH control for obtaining satisfactory control performance. Finally, the simulation results are presented to show the effectiveness of the method proposed in this paper.
AB - This paper investigates the problem of position tracking control for joint robot systems. A sliding mode control method combined with Port-Controlled Hamiltonian (PCH) is introduced to cope with the chattering problem of joint robot systems only controlled by the sliding mode control scheme. Firstly, the mathematical model of robot system and permanent magnet synchronous motor (PMSM) drive system are given in this paper. Then, the sliding mode control technique is utilized to design signal controllers for fast steady-state performance. And the PCH method is used for constructing energy controllers to decreasing energy losses. In addition, a coordination strategy is constructed to coordinate sliding mode control and PCH control for obtaining satisfactory control performance. Finally, the simulation results are presented to show the effectiveness of the method proposed in this paper.
KW - Coordination strategy
KW - Joint robot
KW - PCH control
KW - PMSM
KW - Sliding Model Control
UR - http://www.scopus.com/inward/record.url?scp=85050885734&partnerID=8YFLogxK
U2 - 10.1109/CCDC.2018.8407890
DO - 10.1109/CCDC.2018.8407890
M3 - Conference Proceeding
AN - SCOPUS:85050885734
T3 - Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
SP - 4392
EP - 4397
BT - Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 30th Chinese Control and Decision Conference, CCDC 2018
Y2 - 9 June 2018 through 11 June 2018
ER -