Synchronization of Master-slave Manipulator Systems via Intermittent Event Triggered Sampling Control
To solve the synchronization problem of master-slave manipulator systems,an aperiodically intermittent event trigger-ing sampling control scheme is proposed.The aperiodically intermittent event triggering sampling control scheme consists of an event triggering condition with a fixed threshold and an aperiodically intermittent event triggering sampling controller.The control-ler only needs to sample and update the detected state errors when the event triggering condition is met,which can reduce the communication burden and save communication resources.On the basis of Lyapunov theory,algebraic synchronization criteria are derived to make the master-slave manipulator systems achieve synchronization.The trigger condition with fixed threshold and the aperiodically intermittent event trigger sampling controller are co-designed to ensure the proposed control scheme to avoid Zeno behavior.Finally,through numerical simulations of the two-link manipulator systems,the proposed control scheme is proved to be effective.
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