Periodic and chaotic motions of a two-bar linkage with OPCL controller
type: Item
instance of: scholarly article
title: Periodic and chaotic motions of a two-bar linkage with OPCL controller
zbMATH Open document ID: 1205.93067
DOI: 10.1155/2010/986319
published in: Mathematical Problems in Engineering
publication date: 2010-09-30T00:00:00Z
full work available at URL: https://eudml.org/doc/228208
review text: 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.
Mathematics Subject Classification ID: 93C15
Mathematics Subject Classification ID: 37N35
Mathematics Subject Classification ID: 34H10
zbMATH DE Number: 5793806
zbMATH Keywords: control design
zbMATH Keywords: differential dynamical equations
zbMATH Keywords: nonlinear behaviors
zbMATH Keywords: open-plus-close-loop (OPCL) control
zbMATH Keywords: stability
Wikidata QID: Q58653465
author: Qing-kai Han
author: Xueyan Zhao
author: Xiaoguang Yang
author: Bangchun Wen
MaRDI profile type: Publication
OpenAlex ID: W2053744954
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description: scientific article; zbMATH DE number 5793806