Synchronization of master–slave Lagrangian systems via intermittent control

In this paper, synchronization of master–slave Lagrangian systems via intermittent control was developed. Based on the intermittent control, some algebraic criteria are derived to make the slave Lagrangian system synchronize to a master one. Different from the most existing results on control problems of Lagrangian systems, the controller proposed here is not continuous-time control input and is not relied on the knowledge of system models. As a direct application, the obtained results are applied to a typical two-link revolute jointed robot (robot manipulator). Subsequently, numerical simulations demonstrate the effectiveness of the criteria and the robustness of the control strategy.

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