| 利用Lyapunov指数分析机械手反馈控制中的混沌运动 |
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| 引用本文： | 冯春,谢进,陈永.利用Lyapunov指数分析机械手反馈控制中的混沌运动[J].中国机械工程,2004,15(7):624-627. |
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| 作者姓名： | 冯春 谢进 陈永 |
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| 作者单位： | 西南交通大学机械工程学院,成都,610031 |
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| 基金项目： | 国家自然科学基金资助项目 (5 9975 0 77,5 0 175 0 93 ) |
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| 摘 要： | 给出了一种适用于一般混沌系统最大Lyapunov指数计算的数值算法，并应用于Duffing方程系统、Lorenz系统和Roessler系统．验证了该方法的有效性。分析了平面两自由度机械手基于多变量比例微分反馈控制中的混沌现象，在给定的几种特定参数条件下，计算了机械手混沌模型的最大Lyapunov指数，结果表明机械手在反馈控制下会出现混沌运动。
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| 关 键 词： | 混沌 Lyapunov指数 机械手 反馈控制 |
| 文章编号： | 1004-132X(2004)07-0624-04 |
Analysis of Chaotic Motion for Feedback-Controlled Robots with Lyapunov Exponent |
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| Feng Chun Xie Jin Chen YongSouthwest Jiaotong University,Chengdu.Analysis of Chaotic Motion for Feedback-Controlled Robots with Lyapunov Exponent[J].China Mechanical Engineering,2004,15(7):624-627. |
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| Authors: | Feng Chun Xie Jin Chen YongSouthwest Jiaotong University Chengdu |
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| Affiliation: | Feng Chun Xie Jin Chen YongSouthwest Jiaotong University,Chengdu,610031 |
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| Abstract: | A numerical algorithm to compute the Largest Lyapunov exponent for nonlinear chaotic system was proposed , and applied to analyse the chaotic phenomena of Duffing equation, Lorenz and Rssler system. The numerical simulation results show that the method is effective. The Chaotic phenomenon in planar two degree-of-freedoms(DOF) robots under proportional plus derivative(PD) feedback controller was analyzed.Under several typical parameter conditions,the Largest Lyapunov exponent of feedback -controlled robots were computed,the results show that the non-linear, ordinary differential equations describing the motion of PD feedback controlled, rigid, planar, 2DOF robots can exhibit chaotic motions . |
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| Keywords: | chaos Lyapunov exponent robot feedback control |
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