Smooth-Switching Control of Robot-Based Permanent-Magnet Synchronous Motors via Port-Controlled Hamiltonian and Feedback Linearization

Anxing Liu and Haisheng Yu
Additional contact information
Anxing Liu: College of Automation, Qingdao University, Qingdao 266071, China
Haisheng Yu: College of Automation, Qingdao University, Qingdao 266071, China

Energies, 2020, vol. 13, issue 21, 1-16

Abstract: To solve the contradiction between dynamic performance and steady-state performance of the robot system, a smooth-switching control strategy is proposed. By combining robot and motor model, the complete model of the robot driving system is established. The single-loop Feedback Linearization (FL) controller and Port-Controlled Hamiltonian (PCH) controller based on the complete model are derived to ensure the rapidity and stability of the system respectively. A smooth-switching function based on position error is designed. It can ensure the smooth-switching between two controllers and avoid the instability caused by switch-switching. The proposed algorithm can make the robot system have good dynamic and steady performance. Simulation and experiment results demonstrate the effectiveness of the smooth-switch control strategy.

Keywords: robot; smooth-switching; hamiltonian; feedback linearization (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2020
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

Downloads: (external link)
https://www.mdpi.com/1996-1073/13/21/5731/pdf (application/pdf)
https://www.mdpi.com/1996-1073/13/21/5731/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jeners:v:13:y:2020:i:21:p:5731-:d:438858

Access Statistics for this article

Energies is currently edited by Ms. Agatha Cao

More articles in Energies from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().