Synchronization of master-slave Lagrangian systems via intermittent control. (English) Zbl 1374.70037
Summary: In this paper, synchronization of master-slave Lagrangian systems via intermittent control was developed. Based on the intermittent control, some algebraic criteria are derived to make the slave Lagrangian system synchronize to a master one. Different from the most existing results on control problems of Lagrangian systems, the controller proposed here is not continuous-time control input and is not relied on the knowledge of system models. As a direct application, the obtained results are applied to a typical two-link revolute jointed robot (robot manipulator). Subsequently, numerical simulations demonstrate the effectiveness of the criteria and the robustness of the control strategy.
MSC:
| 70G60 | Dynamical systems methods for problems in mechanics |
| 34D06 | Synchronization of solutions to ordinary differential equations |
| 70Q05 | Control of mechanical systems |
| 93C40 | Adaptive control/observation systems |
Keywords:
synchronization; Lagrangian systems; intermittent control; algebraic criteria; robot manipulatorReferences:
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