Discontinuous Control Of Task Space Synchronization In Manipulator System

The research on synchronization and control of the manipulator system described by Lagrange equation attracts the extensive interest of scholars from the field of science and engineering.More and more attention is paid to the application of manipulator to practical tasks requiring high precision and performance stability.Due to the application background in practical engineering,and design the discontinuous control and synchronization of manipulator system in joint space and task space are considered.The main contents are as follows :Firstly,the master-slave Lagrangian systems are constructed.The designed intermittent control enables the robot manipulator systems with parameter mismatch to achieve practical synchronization.Some synchronization criteria are derived based on Lyapunov stability theory.Subsequently,an example of 3-DOF mobile robot is presented,which demonstrates the effectiveness and feasible of the proposed control strategy.Secondly,the intermittent control strategy is designed,and the tracking synchronization problem of the network manipulator system is studied.Different from the existing control methods of manipulator system,this paper investigates the intermittent control problem of manipulator in joint space instead of task space.The designed controller only needs control input in a certain interval time,not continuous input.Based on aperiodically intermittent control,some simple yet general synchronization criteria are derived.As a direct application,the results are illustrated by a Lagrangian network composing of six 2-link revolute manipulators.Numerical simulations of intermittent control under different conditions verify the effectiveness of the proposed control strategy.Finally,an adaptive intermittent controller is proposed.Based on the extended barbarat lemma,some simple algebraic criterions are obtained to realize the tracking synchronization for the parameter uncertainty manipulator system in the task space.The criterion enables the manipulator end effector to track the desired trajectory under the designed control given the target trajectory.As the application of the theoretical results,four 2-link manipulator systems are taken as examples to verify the correctness of the control strategy.