On homoclinic chaos and a control chaos strategy applied to a free-joint nonholonomic manipulator

dc.creatorCassiano, J
dc.creatorBalthazar, JM
dc.date2007
dc.dateJUN
dc.date2014-11-14T04:18:50Z
dc.date2015-11-26T16:04:29Z
dc.date2014-11-14T04:18:50Z
dc.date2015-11-26T16:04:29Z
dc.date.accessioned2018-03-28T22:53:35Z
dc.date.available2018-03-28T22:53:35Z
dc.identifierInternational Journal Of Bifurcation And Chaos. World Scientific Publ Co Pte Ltd, v. 17, n. 6, n. 2009, n. 2020, 2007.
dc.identifier0218-1274
dc.identifierWOS:000252021800009
dc.identifier10.1142/S021812740701818X
dc.identifierhttp://www.repositorio.unicamp.br/jspui/handle/REPOSIP/67636
dc.identifierhttp://www.repositorio.unicamp.br/handle/REPOSIP/67636
dc.identifierhttp://repositorio.unicamp.br/jspui/handle/REPOSIP/67636
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/1265492
dc.descriptionIn this work, the occurrence of chaos (homoclinic scene) is verified in a robotic system with two degrees of freedom by using Poincare-Mel'nikov method. The studied problem was based on experimental results of a two-joint planar manipulator-first joint actuated and the second joint free-that resides in a horizontal plane. This is the simplest model of nonholonomic free-joint manipulators. The purpose of the present study is to verify analytically those results and to suggest a control strategy.
dc.description17
dc.description6
dc.description2009
dc.description2020
dc.languageen
dc.publisherWorld Scientific Publ Co Pte Ltd
dc.publisherSingapore
dc.publisherSingapura
dc.relationInternational Journal Of Bifurcation And Chaos
dc.relationInt. J. Bifurcation Chaos
dc.rightsfechado
dc.sourceWeb of Science
dc.subjectchaos
dc.subjectcontrol
dc.subjectPoincare-Mel'nikov method
dc.subjectnonholonomic manipulator
dc.subjectDesign
dc.titleOn homoclinic chaos and a control chaos strategy applied to a free-joint nonholonomic manipulator
dc.typeArtículos de revistas


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