IDA-PBC of the robot manipulator including actuator dynamics

In this paper, the trajectory tracking control problem of the manipulator including the dynamics of the actuator is studied. This paper chooses the permanent magnet synchronous motor(PMSM) as the actuator of the robot manipulator and combines the electrical subsystem equation with the mechanical subsystem equation. First, the combined equations are rewritten into port-control Hamilton(PCH) form. In order to obtain better tracking control effect, the traditional PCH model is changed into the Incremental model, and the track tracking controller of the system is designed by using the method of Interconnections and Damping Assignment and Passivity-Based Control (IDA-PBC). The control law designed by this method has a clear physical structure, global stability and avoids the divergence singularity of the control. Finally, the effectiveness of the algorithm is verified by simulation experiments.