Hybrid Tracking Control of 2-DOF SCARA Robot via Port-Controlled Hamiltonian and Backstepping

In this paper, we propose a hybrid coordinated control method based on port-controlled Hamiltonian and backstepping to improve the position tracking performance for two degree of freedom SCARA robot. The port-controlled Hamiltonian (PCH) control is designated to ensure the stability of the system, and the backstepping control targets to improve the response speed of the system. Exponential function is used as a coordination function to achieve the coordinated control strategy to adapt to the position tracking control of 2-DOF SCARA robot. This hybrid coordination control system not only realizes a quick tracking control, but also improves the steady-state performance of the output signal. The simulation results show that when the external interference exists in the mechanical system of a 2-DOF SCARA robot, the hybrid tracking control system takes on the advantages of both methods, which shows good dynamic performance, good steady-state performance, and strong resistance to external interference.