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论文类型：期刊论文

发表时间：2013-11-01

发表刊物：ADVANCES IN VIBRATION ENGINEERING

收录刊物：SCIE、Scopus

卷号：12

期号：6

页面范围：525-539

ISSN号：0972-5768

关键字：Adaptive synchronization control; Slave manipulator with unknown parameters; Lyapunov stability

摘要：A new adaptive control based synchronization strategy is proposed for the master-slave manipulators, which is especially powerful for the casings of the structure parameters of the slaves could be unknown. Firstly, according to the synchronization error definition, the Lyapunov stability theory and the Model Reference Adaptive Control (MRAC) method, the new adaptive controller is designed to achieve the motion synchronization of general master-slave system under the condition of slaves' structure parameters unknown. Then, taking two 3 Degree Of Freedome (DOF) manipulators as the prototype of the master-slave system, the dynamical model of the whole system together with its synchronization controller are established to achieve the predetermined synchronous motion patterns of each corresponding joint of the master and slave. At last, numerical simulations prove that the effectiveness of the adaptive synchronization strategy to the master-slave system but a transient moving process unavoidable