TY - JOUR
T1 - Adaptive anti control of chaos for robot manipulators with experimental evaluations
AU - Moreno-Valenzuela, Javier
N1 - Funding Information:
This work was supported by Secretaría de Investigación y Posgrado-IPN and CONACYT project 176587, Mexico.
PY - 2013/1
Y1 - 2013/1
N2 - Roughly speaking, anti control of chaos consists in injecting a chaotic behavior to a system by means of a control scheme. This note introduces a new scheme to solve the anti control of chaos for robot manipulators. The proposed controller uses an adaption law to estimate the robot parameters on line. Thus, the controller does not require any knowledge of the physical parameters of the manipulator, such as masses, lengths of the links, moments of inertia, etc. The new scheme is based in the velocity field control paradigm, hence the specification of a chaotic system to define a desired velocity field is required. Experimental results in a two degrees-of-freedom direct-drive robot illustrate the practical feasibility of the introduced theory. In order to achieve anti control of chaos of our experimental system, two different chaotic attractors are used: the Genesio-Tesi system and a Jerk-type system. Results showed that the controller is able to inject the chaotic behavior to the robot while the robot parameters are estimated on line.
AB - Roughly speaking, anti control of chaos consists in injecting a chaotic behavior to a system by means of a control scheme. This note introduces a new scheme to solve the anti control of chaos for robot manipulators. The proposed controller uses an adaption law to estimate the robot parameters on line. Thus, the controller does not require any knowledge of the physical parameters of the manipulator, such as masses, lengths of the links, moments of inertia, etc. The new scheme is based in the velocity field control paradigm, hence the specification of a chaotic system to define a desired velocity field is required. Experimental results in a two degrees-of-freedom direct-drive robot illustrate the practical feasibility of the introduced theory. In order to achieve anti control of chaos of our experimental system, two different chaotic attractors are used: the Genesio-Tesi system and a Jerk-type system. Results showed that the controller is able to inject the chaotic behavior to the robot while the robot parameters are estimated on line.
KW - Adaptive control
KW - Anti control of chaos
KW - Real-time experiments
KW - Robot manipulator
KW - Velocity fields
UR - http://www.scopus.com/inward/record.url?scp=84865627375&partnerID=8YFLogxK
U2 - 10.1016/j.cnsns.2012.06.003
DO - 10.1016/j.cnsns.2012.06.003
M3 - Artículo
SN - 1007-5704
VL - 18
SP - 1
EP - 11
JO - Communications in Nonlinear Science and Numerical Simulation
JF - Communications in Nonlinear Science and Numerical Simulation
IS - 1
ER -