Cross-coupling based Finite-time Synchronization Control of the Automated Fiber Placement System

摘要

The application of multi-robots in automated fiber placement system (AFPS) makes it possible to manufacture complex composite components. For high-quality fiber placement tasks, the synchronization of multi-robots is necessary. In this work, a novel cross-coupling based finite-time synchronization control (CFSC) algorithm for a particular AFPS is proposed. In this algorithm, the synchronization function and cross-coupling technology are employ to describe the synchronization and comprehensive trajectory tracking performance of the system. Two coupled errors based sliding variables are designed. The stability of the AFPS is proved by Lyapunov theory, which indicate that the pose errors and synchronization errors of the system can simultaneously finite-time convergence to zero. The simulation demonstrate that the effectiveness of the CFSC algorithm.