In this work, the synchronization of a group of heterogeneous uncertain nonlinear systems is addressed. A strategy based on adaptive super twisting algorithm is proposed, in order to synchronize the outputs of the heterogeneous systems. With the aim of implementing the proposed control strategy, unmeasurable states are estimated by means of high-order sliding modes differentiators. This control scheme increases robustness against unknown dynamics and disturbances, whose bounds are not required to be known. Finally, experimental results for synchronizing a heterogeneous system platform, constituted by an inertial stabilization platform (ISP) and a helicopter of two degrees-of-freedom (DOF), are used to illustrate the performance of the proposed control scheme.

Issue Section:
Technical Brief
Keywords:
Mechatronics, Motion controls, Robotics, Uncertain systems , Robust control
Topics:
Algorithms, Nonlinear systems, Synchronization, Dynamics (Mechanics), Degrees of freedom, Control equipment

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