A projective synchronisation strategy is designed in this paper to synchronise a master manipulator having 12 states modelled using the assumed modes method and the slave manipulator with 8 states modelled using the lumped parameter method. The first objective is to design an adaptive SMC-based filter and the second objective is to design an adaptive global super-twisting sliding mode-based filter algorithm. In the first controller, a filter is designed to estimate the angular velocity errors of the master manipulator then for the second, a filter is designed to estimate the angular and link deflection velocity errors of the slave manipulator. Both the controller gains for the switching laws of the SMC are simultaneously updated online and super-twisting algorithm is designed to reduce the chattering problem. This approach is designed to reduce the time of reaching phase and to increase the robustness. The effectiveness and performances of the proposed controller are validated in MATLAB simulation environment and compared with a latest reported adaptive global SMC controller. The proposed scheme of synchronisation is found to be better than the existing controller.

中文翻译：

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基于自适应全局超扭滑模控制的双连杆柔性机械臂轨迹同步滤波器

本文设计了一种投影同步策略，以同步具有使用假设模式方法建模的 12 个状态的主机械手和使用集总参数方法建模的具有 8 个状态的从机械手。第一个目标是设计基于 SMC 的自适应滤波器，第二个目标是设计基于自适应全局超扭曲滑模的滤波器算法。在第一个控制器中，设计了一个滤波器来估计主机械手的角速度误差，然后在第二个控制器中，设计一个滤波器来估计从机械手的角和连杆偏转速度误差。SMC 开关规律的控制器增益同时在线更新，并且设计了超扭曲算法以减少抖动问题。这种方法旨在减少达到相位的时间并增加鲁棒性。所提出的控制器的有效性和性能在 MATLAB 仿真环境中得到验证，并与最新报道的自适应全局 SMC 控制器进行比较。发现所提出的同步方案优于现有控制器。