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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)
Department空间自动化技术研究室
Source PublicationMathematical Problems in Engineering
ISSN1024-123X
2014
Volume2014
Indexed BySCI ; EI
EI Accession number20141017427473
WOS IDWOS:000330902000001
Contribution Rank1
KeywordChaotic Systems Dynamics Manipulators Synchronization System Stability
AbstractThe 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.
Language英语
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
WOS SubjectEngineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
WOS KeywordEXTERNAL SYNCHRONIZATION ; FEEDBACK ; MOTION
WOS Research AreaEngineering ; Mathematics
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/14659
Collection空间自动化技术研究室
Corresponding AuthorHan QK(韩清凯)
Affiliation1.Dalian University of Technology, Dalian 116024, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
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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