Synchronization of master-slave robotic manipulator systems via aperiodically intermittent sampling control

An aperiodically intermittent sampling control is proposed to achieve the synchronization of master-slave robotic manipulator systems with strong nonlinearity. We construct a new Lyapunov function to overcome the strong nonlinearity. By constructing the new Lyapunov function, some algebraic synchronization criteria are derived to make the slave robotic manipulator synchronize to a master one. As a direct application, the obtained results are applied to a two-link robotic manipulator. Numerical simulations are provided to demonstrate the effectiveness of the algebraic synchronization criteria and the feasibility of the designed control strategy. The main innovation of this work is that the intermittent sampling control is used to study the robotic manipulator systems with strong nonlinearity. The intermittent sampling controller does not need to continuously work and update the control input all the time, which combines the advantages of both the intermittent control and the sampling control.