DocumentCode
1767695
Title
Lyapunov function-based adaptive chaos anti control of robot manipulators
Author
Moreno-Valenzuela, Javier
Author_Institution
Inst. Politec. Nac.-CITEDI, Tijuana, Mexico
fYear
2014
fDate
1-4 June 2014
Firstpage
1221
Lastpage
1226
Abstract
Anti control of chaos is a problem that has been studied in recent years. It consists in injecting a chaotic behavior by means of a control scheme to a system, which in natural form does not present any strange behavior. This paper explores the anti control of chaos of robot manipulators. In particular, by using the Lyapunov function framework, an adaptive chaos anti controller is proposed. The proposed scheme has been experimentally tested in a two degrees-of-freedom direct-drive robot, which corresponds to the configuration of fully actuated rotational pendulum.
Keywords
Lyapunov methods; adaptive control; chaos; manipulators; Lyapunov function; adaptive chaos anticontrol; chaotic behavior; robot manipulators; two degrees-of-freedom direct-drive robot; Chaos; Joints; Manipulators; Mathematical model; Robot kinematics; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics (ISIE), 2014 IEEE 23rd International Symposium on
Conference_Location
Istanbul
Type
conf
DOI
10.1109/ISIE.2014.6864788
Filename
6864788
Link To Document