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

dc.contributorUniversidade Estadual Paulista (Unesp)
dc.contributorUniversidade Estadual de Campinas (UNICAMP)
dc.date.accessioned2014-02-26T17:01:56Z
dc.date.accessioned2014-05-20T14:16:01Z
dc.date.available2014-02-26T17:01:56Z
dc.date.available2014-05-20T14:16:01Z
dc.date.created2014-02-26T17:01:56Z
dc.date.created2014-05-20T14:16:01Z
dc.date.issued2007-06-01
dc.identifierInternational Journal of Bifurcation and Chaos. Singapore: World Scientific Publ Co Pte Ltd, v. 17, n. 6, p. 2009-2020, 2007.
dc.identifier0218-1274
dc.identifierhttp://hdl.handle.net/11449/24806
dc.identifier10.1142/S021812740701818X
dc.identifierWOS:000252021800009
dc.description.abstractIn 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.languageeng
dc.publisherWorld Scientific Publ Co Pte Ltd
dc.relationInternational Journal of Bifurcation and Chaos
dc.relation1.501
dc.relation0,568
dc.rightsAcesso restrito
dc.sourceWeb of Science
dc.subjectchaos
dc.subjectcontrol
dc.subjectPoincare-Mel'nikov method
dc.subjectnonholonomic manipulator
dc.titleOn homoclinic chaos and a control chaos strategy applied to a free-joint nonholonomic manipulator
dc.typeArtículos de revistas


Este ítem pertenece a la siguiente institución