Impulsive tracking synchronization control of networked robotic manipulator systems in the task space

摘要

This study investigates the impulsive tracking synchronization control of networked robotic manipulator systems based on Lagrangian systems. In the task space, the end-effector positions of networked robotic manipulators can synchronize and track a desired trajectory by designing an impulsive controller. Based on impulsive control, some algebraic synchronization criteria are derived. As a direct application of the theoretical results, tracking synchronization of six double-link robotic manipulators in the task space is discussed in detail. Numerical simulations are given to demonstrate the effectiveness and feasibility of the proposed control strategy.