In order to address the comprehensive performance requirements of mobile robots,such as high performance output and long-term endurance,a joint multi-performance synchronization optimization port-controlled Hamiltonian energy control method is proposed.Firstly,the mathematical model of the robot joint and the Hamiltonian energy control model are established,and the joint-targeted energy transmission system model,which can be conveniently optimized using model-based optimization algorithms,is derived.Second-ly,an energy closed-loop controller is constructed,which,combined with the magnetic field vector control,achieves closed-loop control of the robot joint.A multi-performance synchronization optimization control strategy is designed to ensure both the operational output capability and the longest endurance of the robot joint.MATLAB/Simulink simulation results demonstrate that the joint multi-performance synchronization optimization port-controlled Hamiltonian energy controller provides good stability for the robot joint,and the synchronization optimization control strategy exhibits advantages in terms of output capability and en-durance compared with other control strategies through comprehensive multi-criteria analysis.
robot jointmotor controlport-controlled Hamiltonianagent optimization model
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