Smooth-Switching Control of Robot-Based Permanent-Magnet Synchronous Motors via Port-Controlled Hamiltonian and Feedback Linearization
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) con...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-11-01
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| Series: | Energies |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1996-1073/13/21/5731 |