Hybrid control of 2-DOF joint robot based on Port-Controlled Hamiltonian and PD algorithm
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Aiming at the unsatisfactory performance of Two Degree-of-Freedom joint robot trajectory tracking control system which is controlled by one method, a hybrid control method that integrates Port-Controlled Hamiltonian and Proportional Differential algorithm is designed. The Port-Controlled Hamiltonian control is used to ensure the stability of the system, and Proportional Differential control is used to improve the response speed of the system. Exponential function is used as the hybrid function to achieve the coordinated control strategy, and to adapt to the error disturbance of Two Degree-of-Freedom joint robot. The control system not only realizes the fast-tracking control, but also raises the output signal of the robot to a higher precision. The simulation results show that when the modelling error exists in the mechanical system of Two Degree-of-Freedom joint robot, the hybrid control trajectory tracking system takes on both advantages of the two methods. It has good dynamic performance and steady-state performance. In addition, it can eliminate the error quickly.
KeywordsJoint robot Port-Controlled Hamiltonian PD control Trajectory tracking control
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