Periodic and chaotic motions of a two-bar linkage with OPCL controller (Q1958916)
From MaRDI portal
scientific article
Language | Label | Description | Also known as |
---|---|---|---|
English | Periodic and chaotic motions of a two-bar linkage with OPCL controller |
scientific article |
Statements
Periodic and chaotic motions of a two-bar linkage with OPCL controller (English)
0 references
30 September 2010
0 references
Summary: A two-bar linkage, which is described in differential dynamical equations, can perform nonlinear behavior due to system parameters or external input. As a basic component of robot system, the investigation of its behavior can improve robot performance, control strategy, and system parameters. An Open-Plus-Close-Loop (OPCL) control method therefore is developed and applied to reveal and classify the complicated behaviors of a two-bar linkage. In this paper, the conception and stability of OPCL are addressed firstly. Then it is applied to the dynamical equations of two-bar linkage. Different motions including single-periodic, multiple-periodic, quasiperiodic, and chaotic motions are unfolded by numerical simulations when changing the controller parameters. Furthermore, the obtained chaotic motions are sorted out for qualitative and quantificational study using Lyapunov exponents and hypothetic possibilities of surrogate data method.
0 references
control design
0 references
differential dynamical equations
0 references
nonlinear behaviors
0 references
open-plus-close-loop (OPCL) control
0 references
stability
0 references