Time-Synchronized Convergence Control for n-DOF Robotic Manipulators with System Uncertainties.

A time-synchronized (TS) convergence control method for robotic manipulators is proposed. Adversely to finite-time control, a notion of time-synchronization convergence is introduced based on the ratio persistence property, which can ensure that all system components converge simultaneously in a finite time. Firstly, a robust disturbance observer is constructed to be compatible with the time-synchronized control framework and precisely estimate system uncertainties.

CGJO: a novel complex-valued encoding golden jackal optimization.

Golden jackal optimization (GJO) is inspired by mundane characteristics and collaborative hunting behaviour, which mimics foraging, trespassing and encompassing, and capturing prey to refresh a jackal's position. However, the GJO has several limitations, such as a slow convergence rate, low computational accuracy, premature convergence, poor solution efficiency, and weak exploration and exploitation. To enhance the global detection ability and solution accuracy, this paper proposes a novel complex-valued encoding golden jackal optimization (CGJO) to achieve function optimization and engineering design.