摘要
Thispaperaddressesamaster-slavesynchronizationstrategyforcomplexdynamicsystemsbasedonfeedbackcontrol.Thisstrategyisappliedto3-DOFplanarmanipulatorsinordertoobtainsynchronizationinsuchcomplicatedaschaoticmotionsofend-effectors.AchaoticcurveisselectedfromDuffingequationasthetrajectoryofmasterend-effectorandapiecewiseapproximationmethodisproposedtoaccuratelyrepresentthischaotictrajectoryofend-effectors.Thedynamicalequationsofmaster-slavemanipulatorswithsynchronizationcontrollerarederived,andtheLyapunovstabilitytheoryisusedtodeterminethestabilityofthiscontrolledsynchronizationsystem.Innumericalexperiments,thesynchronousmotionsofend-effectorsaswellasthreejointanglesandtorquesofmaster-slavemanipulatorsarestudiedunderthecontroloftheproposedsynchronizationstrategy.Itisfoundthatthepositivegainmatrixaffectstheimplementationofsynchronizationcontrolstrategy.Thissynchronizationcontrolstrategyprovesthesynchronization'sfeasibilityandcontrollabilityforcomplicatedmotionsgeneratedbymaster-slavemanipulators.
出版日期
2010年03月13日（中国期刊网平台首次上网日期，不代表论文的发表时间）
