Adaptive Synchronization Control for Dual-Manipulator System Using Finite Time Parameter Estimation

摘要

In this paper, an adaptive synchronization control method is proposed for dual-manipulator systems to guarantee the satisfactory synchronization and tracking performance on the basis of effective finite time parameter estimation. The mean-coupling synchronization scheme is employed to obtain the mean-coupling error, and a fast finite time sliding mode surface and a auxiliary control variable are presented based on the position tracking error and mean-coupling error to facilitate the control design. Then, the fast terminal sliding mode synchronization controller is proposed to ensure that both the tracking error and the synchronization error can converge to zero in finite time. Moreover, an adaptive parameter estimation law is developed by the extracted parameter error information to accurately identify the unknown system parameters. Comparative simulations are provided to validate the effectiveness of the proposed method.