Chaos Suppression Of An Underactuated Manipulator: Experimental Results

In this paper, a phase space reconstruction technique and the estimation of the maximum Lyapunov exponent allow to show that the long-term dynamics of a two-link, planar, underactuated manipulator may be chaotic. The problem of stabilizing unstable periodic orbits (UPO's) embedded in the system...

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Veröffentlicht in:	Revista IEEE América Latina 2004-03, Vol.2 (1), p.19-24
Hauptverfasser:	Mejia, O.P., Gallegos, Jaime A., Gallegos, Joaquin A.
Format:	Artikel
Sprache:	eng
Schlagworte:	Chaos chaos control Chaos theory Control systems Dynamical systems Dynamics Manipulators periodic orbits Robot arms Service robots Silicon compounds Strategy Telecommunication control Time delay underactuated manipulators
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