SWITCHED MUTUAL-MASTER-SLAVE SYNCHRONISATION: APPLICATION TO MECHANICAL SYSTEMS

摘要

We show that the problems of mutual, master-slave synchronisation are equivalent (up to a transformation) to a classical output tracking control for certain nonlinear time-varying systems. Therefore, solving any of these problems solves the others however, in the presence of disturbances such an over-simplification of the tracking/synchronisation problem may lead to loss of performance and increase of control efforts. Then, we propose a supervisor controller that ensures asymptotic tracking while keeping synchronisation errors "small". Further, in the presence of disturbances, we establish input-output-to-state stability. In particular, we address the simultaneous tracking and synchronisation problems for mechanical systems.