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Nonlinear dynamics of controlled synchronizations of manipulator system
Han QK(韩清凯); Zhang H(张昊); Liu JG(刘金国)
作者部门空间自动化技术研究室
关键词Chaotic Systems Dynamics Manipulators Synchronization System Stability
发表期刊Mathematical Problems in Engineering
ISSN1024-123X
2014
卷号2014
收录类别SCI ; EI
EI收录号20141017427473
WOS记录号WOS:000330902000001
产权排序1
摘要The nonlinear dynamics of the manipulator system which is controlled to achieve the synchronization motions is investigated in the paper. Firstly, the control strategies and modeling approaches of the manipulator system are given, in which the synchronization goal is defined by both synchronization errors and its derivatives. The synchronization controllers applied on the manipulator system include neuron synchronization controller, improved OPCL synchronization controller, and MRAC-PD synchronization controller. Then, an improved adaptive synchronized control strategy is proposed in order to estimate online the unknown structure parameters and state variables of the manipulator system and to realize the needed synchronous compensation. Furthermore, a robust adaptive synchronization controller is also researched to guarantee the dynamic stability of the system. Finally, the stability of motion synchronizations of the manipulator system possessing nonlinear component is discussed, together with the effect of control parameters and joint friction and others. Some typical motions such as motion bifurcations and the loss of synchronization of it are obtained and illustrated as periodic, multiperiodic, and/or chaotic motion patterns.
语种英语
WOS标题词Science & Technology ; Technology ; Physical Sciences
WOS类目Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
关键词[WOS]EXTERNAL SYNCHRONIZATION ; FEEDBACK ; MOTION
WOS研究方向Engineering ; Mathematics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/14659
专题空间自动化技术研究室
通讯作者Han QK(韩清凯)
作者单位1.Dalian University of Technology, Dalian 116024, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Han QK,Zhang H,Liu JG. Nonlinear dynamics of controlled synchronizations of manipulator system[J]. Mathematical Problems in Engineering,2014,2014.
APA Han QK,Zhang H,&Liu JG.(2014).Nonlinear dynamics of controlled synchronizations of manipulator system.Mathematical Problems in Engineering,2014.
MLA Han QK,et al."Nonlinear dynamics of controlled synchronizations of manipulator system".Mathematical Problems in Engineering 2014(2014).
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