期刊文献+
共找到1篇文章
< 1 >
每页显示 20 50 100
Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy 被引量:3
1
作者 Qingkai Han Lina Hao Hao Zhang Bangchun Wen 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2010年第3期433-439,共7页
This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such ... This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar 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 numer- ical 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 con- trol strategy. This synchronization control strategy proves the synchronization's feasibility and controllability for com- plicated motions generated by master-slave manipulators. 展开更多
关键词 Master-slave manipulators - chaoticsynchronization trajectory - Feedback control
下载PDF
上一页 1 下一页 到第
使用帮助 返回顶部