Lyapunov function-based adaptive chaos anti control of robot manipulators

Research output: Contribution to conferencePaperResearch

2 Citations (Scopus)

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. © 2014 IEEE.
Original languageAmerican English
Pages1221-1226
Number of pages1098
DOIs
StatePublished - 1 Jan 2014
EventIEEE International Symposium on Industrial Electronics -
Duration: 1 Jan 2015 → …

Conference

ConferenceIEEE International Symposium on Industrial Electronics
Period1/01/15 → …

Fingerprint

Liapunov functions
Lyapunov functions
robots
Chaos theory
Manipulators
chaos
manipulators
Robots
pendulums
Pendulums
controllers
degrees of freedom
Controllers
configurations

Cite this

Moreno-Valenzuela, J. (2014). Lyapunov function-based adaptive chaos anti control of robot manipulators. 1221-1226. Paper presented at IEEE International Symposium on Industrial Electronics, . https://doi.org/10.1109/ISIE.2014.6864788
Moreno-Valenzuela, Javier. / Lyapunov function-based adaptive chaos anti control of robot manipulators. Paper presented at IEEE International Symposium on Industrial Electronics, .1098 p.
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Moreno-Valenzuela, J 2014, 'Lyapunov function-based adaptive chaos anti control of robot manipulators' Paper presented at IEEE International Symposium on Industrial Electronics, 1/01/15, pp. 1221-1226. https://doi.org/10.1109/ISIE.2014.6864788

Lyapunov function-based adaptive chaos anti control of robot manipulators. / Moreno-Valenzuela, Javier.

2014. 1221-1226 Paper presented at IEEE International Symposium on Industrial Electronics, .

Research output: Contribution to conferencePaperResearch

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