Nonlinear Dynamics of Controlled Synchronizations of Manipulator System

Abstract

The nonlinear dynamics of the manipulator system which is controlled to achieve the synchronization motions is investigated in the paper. Firstly, the control strategies and modeling approaches of the manipulator system are given, in which the synchronization goal is defined by both synchronization errors and its derivatives. The synchronization controllers applied on the manipulator system include neuron synchronization controller, improved OPCL synchronization controller, and MRAC-PD synchronization controller. Then, an improved adaptive synchronized control strategy is proposed in order to estimate online the unknown structure parameters and state variables of the manipulator system and to realize the needed synchronous compensation. Furthermore, a robust adaptive synchronization controller is also researched to guarantee the dynamic stability of the system. Finally, the stability of motion synchronizations of the manipulator system possessing nonlinear component is discussed, together with the effect of control parameters and joint friction and others. Some typical motions such as motion bifurcations and the loss of synchronization of it are obtained and illustrated as periodic, multiperiodic, and/or chaotic motion patterns.