Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy

摘要

cqvip:This paper addresses a master-slave synchronization strategy for complex dynamic systems based on feedback control.This strategy is applied to 3-DOF planar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors.A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors.The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system.In numerical experiments,the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy.It is found that the positive gain matrix affects the implementation of synchronization control strategy.This synchronization control strategy proves the synchronization's feasibility and controllability for complicated motions generated by master-slave manipulators.