Generalized projective synchronization between controlled master and multiple slave TLFMs with modified adaptive SMC

• Published in: Transactions of the Institute of Measurement and Control 2018-02, Vol.40 (4), p.1049-1071
• Main Authors: Lochan, Kshetrimayum, Roy, Binoy Krishna, Subudhi, Bidyadhar
• Format: Article
• Language: English
• Subjects: Adaptive control; Control systems design; Equivalence; Flexible manipulators; Low frequencies; Scaling factors; Sliding mode control; Synchronism; Trajectories
• ISSN: 0142-3312; 1477-0369
• DOI: 10.1177/0142331216674067

The problem of projected work space trajectory synchronization for multiple two link flexible manipulators is considered here. Generalized projective synchronization between a controlled master and multiple slave manipulators is presented in this paper. The master and slave manipulators are non-identical. A low frequency chaotic signal and an exponentially varying signal are used as the desired trajectories. An equivalent sliding mode controller is designed for the master manipulator to track the desired trajectory. A modified adaptive equivalent sliding mode controller is designed for the slave manipulators to be projectively synchronized with the controlled master. Two scaling factors are used for the projective synchronization. Simulation results, with disturbances and payload variation reveal that the master and multiple slaves are synchronized with their respective desired trajectories. Such projective synchronization between one master and multiple slaves using the proposed control techniques to track a low frequency chaotic desired signal is not found in the literature. Such projective synchronization to track a chaotic signal is considered as the novelty of this paper. The performances of the proposed control techniques are found to be better in terms of link deflections and control effort when compared with three other sliding mode control techniques.