Characteristic Model-Based Discrete Adaptive Integral SMC for Robotic Joint Drive on Dual-Core ARM
Year: 2025
Type: article
Abstract: Addressing escalating demands for high-precision compact robotic actuators, this study overcomes persistent challenges from nonlinear transmission dynamics and computational constraints through a co-designed framework integrating three innovations. A real-time second-order characteristic modeling approach enables 10 kHz online parameter identification, reducing computational load by 13.1% versus MPC. Building on this foundation, a hybrid integral sliding-mode controller eliminating modeling errors while maintaining ≤0.25 rad/s tracking error (SRMSE) under variable loads was created. These algorithmic advances are embedded within a miniaturized dual-ARM platform (47 × 47 × 12 mm3) achieving <30-ns overcurrent protection and 36% cost reduction versus DSP/FPGA solutions. Validated via Lyapunov stability proofs and experiments, this framework is particularly effective for high-performance robotic joint control in spatially- and thermally-constrained environments while dynamically compensating for unmodeled nonlinearities.
Source: Symmetry
DOI: 10.3390/sym17091436
Author: Wei Chen
Institution: Nanjing University of Industry Technology
Language: English
Subfield: Electrical and Electronic Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
OpenAlex ID: W4413958748