Finite-time synchronization of multi-manipulator systems under aperiodically intermittent communication

This paper studies the finite-time synchronization control problem of multi-manipulator systems under aperiodically intermittent communication. In contrast to the traditional periodic intermittent communication schemes widely adopted in previous research, the introduction of aperiodic patterns breaks through the limitations of regular communication intervals. This novel approach more realistically mimics the complex and unpredictable communication conditions often encountered in actual industrial and robotic applications. By employing the appropriate auxiliary variables and establishing a velocity estimator, a coordinated tracking controller is designed to realize the finite-time synchronization. Note that the settling time monotonically increases with the maximum rest ratio that the system can tolerate. Finally, the validity of proposed finite-time synchronization strategies is verified through a numerical simulation.