The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2000
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1A1-28-027 Control of Underactuated Manipulators via Chaos
[in Japanese][in Japanese][in Japanese][in Japanese]
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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 34-

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Abstract
In this method, it is proposed that in a nonlinear dynamic system, a chaotic attractor can be formed by an appropriate usage of open-loop control until the system states converge within a specified area of attractive domain and then a state feedback control can be used to converge the system states to desired values. In the control of such systems, there are two phases of control. First phase uses an open-loop control such that the chaotic features attract the states to a desired area in the state space. Once the system has entered a specified area, open-loop control is cut off and the second phase of control is adopted. In the proposed second phase, an Fuzzy model-based control (FMC) is employed under state feedback control.
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© 2000 The Japan Society of Mechanical Engineers
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