Coordinated Tracking Control of a Flexible Robot via Port-Controlled Hamiltonian and Sliding Mode

This paper proposes a coordinated hybrid control strategy based on port-controlled Hamiltonian (PCH) and sliding mode control (SMC) to improve the tip position tracking performance for a single-link flexible-link flexible-joint manipulator (SFLFJM) with 4 degrees of freedom and 3 degrees of underactuation. A PCH control is designated to ensure the stability of the system, and the sliding mode control targets to improve the response speed of the system. We use an exponential function as a coordination control function to design the hybrid control strategy to adapt to the tip position tracking control of SFLFJM. This coordinated hybrid control system not only realizes a rapid tracking control, but also improves the steady-state performance. The numerical simulation results illustrate that when an external interference exists in the mechanical system of SFLFJM, the coordinated tracking control system benefits the advantages of both methods, which shows better steady-state performance, better dynamic performance and strong robustness to external interference.

کلیدواژه ها:

Flexible Robot ، Port-Controlled Hamiltonian ، Sliding Mode Control ، Hybrid Coordinated Control.