Work

Synchronization of master-slave robotic manipulator systems via aperiodically intermittent sampling control

Year: 2025

Type: article

Abstract: An aperiodically intermittent sampling control is proposed to achieve the synchronization of master-slave robotic manipulator systems with strong nonlinearity. We construct a new Lyapunov function to overcome the strong nonlinearity. By constructing the new Lyapunov function, some algebraic synchronization criteria are derived to make the slave robotic manipulator synchronize to a master one. As a direct application, the obtained results are applied to a two-link robotic manipulator. Numerical simulations are provided to demonstrate the effectiveness of the algebraic synchronization criteria and the feasibility of the designed control strategy. The main innovation of this work is that the intermittent sampling control is used to study the robotic manipulator systems with strong nonlinearity. The intermittent sampling controller does not need to continuously work and update the control input all the time, which combines the advantages of both the intermittent control and the sampling control.

Source: SICE Journal of Control Measurement and System Integration

DOI: 10.1080/18824889.2025.2519850

Authors: Mihua Ma, Liyi Zhang

Institution: Minnan Normal University

Language: English

Topic: Neural Networks Stability and Synchronization

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,235

Funders: National Natural Science Foundation of China, Natural Science Foundation of Fujian Province