Abstract
In this study, the fault-tolerant exponential synchronization control is researched for the multi-manipulator system which is characterized by the large number of interconnected manipulators, the stochastic perturbations and the nonlinearly time-varying delayed interactions. After abstracting the corresponding mathematical complex dynamical network model from the system, an effective controller is designed with some definitions, assumptions and lemmas. Particularly, based on the linear matrix inequalities (LMIs), Ito’s formula and the Lyapunov stability theory, the controlled network model is proved to be stochastically synchronous under the actuator failure by constructing a switching stochastic Lyapunov-Krasovskii functional and some sufficient conditions for the mean square exponential synchronization are derived. A numerical example is illustrated for the further verifications and conclusions.
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