Open AccessNonlinear Vibration of Manipulator Induced by Coupling Time Delay and Control Strategy
Author(s) -
Zhiju Deng,
Shan-Ying Jiang
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1846/1/012050
Subject(s) - control theory (sociology) , vibration , hopf bifurcation , nonlinear system , eigenvalues and eigenvectors , manipulator (device) , stability (learning theory) , coupling (piping) , bifurcation , vibration control , polynomial , mathematics , computer science , control (management) , engineering , physics , robot , mathematical analysis , mechanical engineering , quantum mechanics , artificial intelligence , machine learning
This article uses the theory of Hopf bifurcation to study the stability [1-2] of nonlinear manipulator system with time delay built by Spong. The period vibration, almost periodic vibration and chaos motion are stabilized by the controllers designed in the article, which is achieved by changed the polynomial u in the dynamic of manipulator. It is proved that the controllers in this article are useful by calculating the eigenvalues of the linear form of the dynamic of manipulator, which are expressed in the complex plane, according to the stability theory [2] .