摘要：In this study,a simple position synchronization control algorithm based on an integral sliding mode is developed for dualarm robotic manipulator systems.A first-order sliding surface is designed using cross-coupling error in order to ensure position synchronization of dual-arm *** design objective of the proposed controller is to ensure stability as well as to synchronize the movement of both arms while maintaining the trajectory as *** integral sliding mode eliminates the reaching phase and guarantees robustness throughout the whole operating ***,a low pass filter is used to smoothen the discontinuous element and minimize unwanted *** stability theory is utilized to prove the asymptotic stability of the controlled *** studies are performed to validate the proposed controller′s ***,to investigate the possibility of realizing the proposed dynamic control method in practical applications,experiments are conducted on a 14DoF coordinated links(COOL)dual-arm robotic manipulator *** evidence indicates adequate efficiency in trajectory tracking and guarantees robustness in the presence of parametric uncertainty and external disturbance.

摘要：In this paper,we report on the identification and modeling of unknown and higher order processes into first order plus dead time(FOPDT)plants based on the limit cycle information obtained from a single relay feedback test with an online fractional order proportional integral(FOPI)*** parameters of the test processes are accurately determined by the state space method while the FOPI controller settings are re-tuned to achieve enhanced performance based on the identified model parameters based on the balancedtuning method.A new performance index,integral time fractional order absolute error(ITFIAE)is introduced in this paper for balanced tuning of fractional order(FO)*** requires minimum design specifications without a-priori knowledge of gain and phase crossover frequencies and is done non-iteratively without disrupting the closed *** test processes and experimental analysis on a coupled tank system(CTS)validate the theory proposed.