An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller

Jie Li, Haibo Yu, Yanbo Wang, Bokai Xuan, Zhe Chen

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review


Parameters tuning of robot joint motor’s controller is the key for realizing good control performance. This paper presents an iterative parameter tuning method for a joint motor’s sliding mode controller. First, a permanent magnetic synchronous joint motor is designed, and the control object of the system is determined. Secondly, the sliding-mode PID control system that combined the PID current controller with the sliding mode speed controller is designed. The sliding mode controller’s parameters are set initially with engineering design methods, also a redundant controller is added and its parameters are also set by using engineering design methods. The system output speed under the redundant PI speed controller and sliding mode speed controller is used as the iterating variables, the parameters of the controllers are obtained via iteration. Finally, the MATLAB/Simulink simulation has been conducted, the obtained results have shown that the proposed method is effective and feasible.
Original languageEnglish
Title of host publicationProceedings of 2019 Chinese Intelligent Automation Conference
EditorsZhidong Deng
Number of pages9
Publication date2019
ISBN (Print)978-981-32-9049-5
ISBN (Electronic)978-981-32-9050-1
Publication statusPublished - 2019
Event2019 Chinese Intelligent Automation Conference - Jiangsu, China
Duration: 20 Sep 201922 Sep 2019


Conference2019 Chinese Intelligent Automation Conference
SeriesLecture Notes in Electrical Engineering


  • Joint motor
  • Sliding motor controller
  • Parameter tuning
  • Iteration
  • Sliding mode controller

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