Periodic and Chaotic Motions of a Two‐Bar Linkage with OPCL Controller | Zendy

Qingkai Han | Zendy; Xueyan Zhao | Zendy; Xiaoguang Yang | Zendy; Bangchun Wen | Zendy

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Periodic and Chaotic Motions of a Two‐Bar Linkage with OPCL Controller

Author(s) -

Qingkai Han,

Xueyan Zhao,

Xiaoguang Yang,

Bangchun Wen

Publication year - 2010

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2010/986319

Subject(s) - quasiperiodic function , chaotic , linkage (software) , control theory (sociology) , bar (unit) , lyapunov exponent , controller (irrigation) , nonlinear system , mathematics , stability (learning theory) , differential equation , computer science , mathematical analysis , physics , control (management) , artificial intelligence , biochemistry , chemistry , quantum mechanics , machine learning , biology , meteorology , agronomy , gene

A two-bar linkage, which is described in differential dynamical equations, can perform nonlinear behaviors 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

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