Robust Synchronization of a Class of Robot Manipulator

Resumen

In this work, an adaptive control strategy for the synchronization of robotic manipulators is presented, demonstrated its stability, and verified with numerical results. The idea of synchronization is that various systems that may have completely different dynamics behave in a way that there exists no residual difference in their outputs. Here we present an approach for synchronizing robot manipulators despite unmodeled dynamics and parametric uncertainties, external disturbances, and parametric and structural differences of the robots. It is achieved with the help of a nonlinear controller with robust characteristics that only require the measurement of the angular positions. The uncertain functions are grouped into a new state that is, together with the other states of the system, estimated by a high-gain observer. With the estimated states, feedback is implemented based on linearization.

Finally, the proposed methodology is demonstrated for a two-degree-of-freedom (DOF) robot manipulator, and numerical results are presented.