|Adaptive Fixed Time Parameter Estimation and Synchronization Control for Multiple Robotic Manipulators
Qiang Chen, Miaomiao Gao, Liang Tao*, and Yurong Nan
International Journal of Control, Automation, and Systems, vol. 17, no. 9, pp.2375-2387, 2019
Abstract : In this paper, an adaptive fixed time parameter estimation and synchronization control scheme is proposed for multiple robotic manipulators with unknown parameters and lumped disturbances. A mean coupling synchronization error is defined by averaging all the tracking errors of multiple robotic manipulators, and an adaptive fixed time synchronization control scheme is proposed to guarantee that both the tracking error and the synchronization error can simultaneously converge to zero within a fixed time, which means that the upper bound of the settling time is independent of the initial conditions. Moreover, an adaptive parameter estimation law is developed through constructing auxiliary filtered variables to achieve the accurate estimation of the unknown system parameters. Comparative simulations are provided to validate the effectiveness of the proposed scheme.
Adaptive fixed time control, mean coupling synchronization, multiple robotic manipulators, parameters estimation.