Research On Synchronization Control Of Multi Manipulator System Based On Complex Dynamical Networks

As the important end-effector of the robot,the manipulator is widely used in the mechanical manufacturing field to carry out various tasks of snatching,carrying and releasing.Moreover,to achieve high efficiency in production,the multi manipulator system for the collaboration is replacing the single manipulator.Owing to the interactions in the system and the stochastic perturbations in the environment,the running states of the system can't maintain the certain synchronization relationship which affects the stable execution of the tasks.In view of the various manipulator structures and the complex nonlinear couplings in the multi manipulator system,the traditional multi manipulator control method aimed at the single manipulator structure and the linear couplings can hardly meet the synchronization requirements of the multi manipulator system.Meanwhile,because the complex dynamical network model emerging in recent years can characterize the variety and nonlinearity of the complex dynamical system perfectly,this study is devoted to the synchronization control of the multi manipulator system with the complex network model and relevant synchronization control theory.This study takes the multi manipulator system as the research object and mainly focuses on its synchronization control.Two different kinds of multi manipulator systems are mapped into the corresponding complex dynamical networks respectively.Moreover,based on the dynamical behaviors in the mapped complex dynamical network models,the adaptive controllers for the synchronization are designed and their effectiveness is verified by the Lyapunov stability theory and the Ito stochastic differential equation.The main research contents are as follows:(1)In the multi manipulator system containing various manipulator structures,the adaptive cluster synchronization control is investigated under the linear couplings,the switching topologies,the single time-varying delay and the stochastic perturbations.The corresponding complex network model is constructed with the dynamical equations and the system communication topologies.Based on the analysis of the network synchronization error in the mapped model,the multi-weight adaptive control method is proposed.According to the Lyapunov stability theory,the linear matrix inequalities,the stochastic Ito differential equation and the stochastic Lasalle-type invariance theorem are applied to prove the fact that the controlled multi manipulator system can achieve the cluster synchronization goal.In the end,the effectiveness of the designed controller is further explored through the experimental simulation in the multi single link manipulator system consisting of three different kinds of manipulator structures.(2)In the multi manipulator system containing a single manipulator structure,the exponential synchronization control is investigated under the nonlinear couplings,the switching topologies,the mixed time-varying delays and the stochastic perturbations.The corresponding complex dynamical network model is constructed with the dynamical equations and the communication topologies.Based on the analysis of the synchronization error in the mapped model,the adaptive exponential synchronization control method is proposed.In the presence of the actuator failures,the designed adaptive fault-tolerant control method is verified through the Lyapunov stability theory,the linear matrix inequalities,the stochastic Ito differential equation and the Gronwall inequality.Further illustrations about the robustness and flexibility of the designed controller are stated by the numerical example of the multi single link manipulator system.(3)The multi manipulator synchronization control system is designed based on the complex dynamical network models.With the perspective for modularized development,the multi manipulator synchronization control system is developed to realize the functions of the system parameter management and the network synchronization ability analysis by adopting the mainstream technology framework.The system can verify the feasibility and practicability of the proposed control method in this study.