Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy  

作　　者：Qingkai Han Lina Hao Hao Zhang Bangchun Wen 

机构地区：[1]School of Mechanical Engineering and Automation, Northeastern University, 110004 Shenyang, China

出　　处：《Acta Mechanica Sinica》2010年第3期433-439,共7页力学学报（英文版）

基　　金：supported by the Key Project of Chinese Ministry of Education(108037);the National Natural Science Foundation of China(10402008 and 50535010)

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.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.

关 键 词：Master-slave manipulators - Chaoticsynchronization trajectory - Feedback control 

分 类 号：TP271.31[自动化与计算机技术—检测技术与自动化装置] TL362.7[自动化与计算机技术—控制科学与工程]