A simple adaptive technique for synchronizing motions of two systems

摘要

In this paper, a simple adaptive technique of synchronizing the motion of two systems in the master-slave configuration is presented. The slave pendulum system is required to follow the position and velocity of the master. Simply speaking, the motion errors between the master and the slave should be minimized by the feedback controllers. However, the same inputs to two similar systems do not provide the same output results due to many unknown reasons. One of methods is to select controller gains appropriately for the synchronized motion correctly. Here feedback controller gains are adaptively adjusted by the recursive least square method. Experimental studies of synchronized motions of two different systems are conducted to verify the proposal.