TY - GEN
T1 - Lyapunov function-based adaptive chaos anti control of robot manipulators
AU - Moreno-Valenzuela, Javier
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84907361885&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2014.6864788
DO - 10.1109/ISIE.2014.6864788
M3 - Contribución a la conferencia
AN - SCOPUS:84907361885
SN - 9781479923991
T3 - IEEE International Symposium on Industrial Electronics
SP - 1221
EP - 1226
BT - Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
Y2 - 1 June 2014 through 4 June 2014
ER -