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Nonlinear Dynamics of Controlled Synchronizations of Manipulator System
Joint Authors
Liu, Jinguo
Han, Qingkai
Zhang, Hao
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-01-29
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Han, Qingkai& Zhang, Hao& Liu, Jinguo. 2014. Nonlinear Dynamics of Controlled Synchronizations of Manipulator System. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-490915
Modern Language Association (MLA)
Zhang, Hao…[et al.]. Nonlinear Dynamics of Controlled Synchronizations of Manipulator System. Mathematical Problems in Engineering No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-490915
American Medical Association (AMA)
Han, Qingkai& Zhang, Hao& Liu, Jinguo. Nonlinear Dynamics of Controlled Synchronizations of Manipulator System. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-490915
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-490915