A New Adaptive Synchronization Strategy for Master-Slave Manipulators with Unknown Slaves' Parameters

作者：Han, Qingkai^*; Zhai, Jingyu; Zhang, Hao; Li, Xuejun

来源：Advances in Vibration Engineering, 2013, 12(6): 525-539.

• Adaptive synchronization control
• Slave manipulator with unknown parameters
• Lyapunov stability

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

• 出版日期2013-12
• 单位湖南科技大学; 大连理工大学