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Optimized Cooperative Control of Error Port-Controlled Hamiltonian and Adaptive Backstepping Sliding Mode for a Multi-Joint Industrial Robot

Author

Listed:
  • Xiaoyu Yang

    (College of Automation, Qingdao University, Qingdao 266071, China
    Shandong Province Key Laboratory of Industrial Control Technology, Qingdao 266071, China)

  • Haisheng Yu

    (College of Automation, Qingdao University, Qingdao 266071, China
    Shandong Province Key Laboratory of Industrial Control Technology, Qingdao 266071, China)

Abstract

Robot joints driven by permanent magnet synchronous motors (PMSM) often cannot have both superior accuracy and rapidity when they track target signals. The robot joints have fine dynamic characteristics and poor steady-state characteristics when the signal controller is used, or they have fine steady-state characteristics and poor dynamic characteristics when the energy controller is used. It is hard to make robot joints that have both superior dynamic and steady-state characteristics at once using a single control method. In order to solve this problem, the strategy of optimized cooperative control is proposed. First, an error port-controlled Hamiltonian (EPCH) energy controller and an adaptive backstepping sliding mode (ABSM) signal controller are designed. Second, an optimized cooperative control coefficient based on the position error of a robot joint is designed; this enables the system to switch smoothly between the EPCH energy controller and ABSM signal controller. Next, the strategy of optimized cooperative control is designed. In this way, robot systems can combine the advantages of the EPCH energy controller and the ABSM signal controller. Finally, simulation results demonstrate that using the strategy of optimized cooperative control gives robot joints outstanding control performance in terms of tracking accuracy and response rapidity.

Suggested Citation

  • Xiaoyu Yang & Haisheng Yu, 2023. "Optimized Cooperative Control of Error Port-Controlled Hamiltonian and Adaptive Backstepping Sliding Mode for a Multi-Joint Industrial Robot," Mathematics, MDPI, vol. 11(6), pages 1-20, March.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:6:p:1542-:d:1104112
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    References listed on IDEAS

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    1. Luis Arturo Soriano & José de Jesús Rubio & Eduardo Orozco & Daniel Andres Cordova & Genaro Ochoa & Ricardo Balcazar & David Ricardo Cruz & Jesus Alberto Meda-Campaña & Alejandro Zacarias & Guadalupe , 2021. "Optimization of Sliding Mode Control to Save Energy in a SCARA Robot," Mathematics, MDPI, vol. 9(24), pages 1-16, December.
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