Achievement of chaotic synchronization trajectories of master–slave manipulators with feedback control strategy |
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基金项目: | supported by the Key Project of Chinese Ministry of Education(108037);the National Natural Science Foundation of China(10402008 and 50535010) |
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摘 要: | This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization's feasibility and controllability for com- plicated motions generated by master-slave manipulators.
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关 键 词: | 同步控制策略 主从机械手 同步轨道 混沌运动 反馈控制 Lyapunov稳定性理论 同步控制系统 房地产经纪人 |
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