Robust Synchronization of nDOF Lagrangian Systems

摘要

Based on the master/slave scheme, we propose a technique to synchronize two nDOF Lagrangian systems. This technique shows good robustness to bounded external perturbations. The coupling signal has a discontinuous term such that a variable structure system is produced. The performance of this synchronization technique is numerically illustrated with the synchronization of two 2DOF mechanical systems.