Title :
Chaos phenomena in 2-link manipulator with dead time and its control
Author :
Sobajima, Hirokazu ; Asakura, Toshiyuki ; Naniwa, Tomohide
Author_Institution :
Fac. of Eng., Fukui Univ., Japan
Abstract :
The paper is concerned with the chaos phenomena in the nonlinear system with dead time. A chaos detection method is proposed for a nonlinear system with a dead time and applied to the dynamics generated in a 2-link manipulator with dead time. Next, a controller with neural network is proposed in order to stabilize the chaotic behavior.
Keywords :
Lyapunov methods; chaos; manipulator dynamics; nonlinear control systems; nonlinear dynamical systems; time series; 2-link manipulator; Lyapunov exponent; chaos detection method; chaos phenomena; dead time; dynamics; neural network controller; nonlinear system; Chaos; DSL; Delay effects; Equations; Large Hadron Collider; Neural networks; Nonlinear systems; Orbital calculations; Robot control; Torque;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195751
