Phenomena of Chaos in Pneumatic Manipulator with Time-Delay on Trajectory Following and Its Stabilizing Control Using Neural Networks
Toshiyuki ASAKURA, Yunsheng LI · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2005
This research develops the phenomena of chaos and its stabilizing control in following a circular trajectory by considering a time-delay of pneumatic signals in a 2-link pneumatic manipulator. In general, it becomes difficult for such a manipulator to follow a desired trajectory, because chaos phenomena is often caused in manipulators with time-delay of pneumatic signals transmitted through long air tubes. In order to solve this kind of problem, the chaotic behavior is examined by recording the Lyapunov exponent, and a new stabilizing method with neural networks (NN) is proposed. Through simulations and experiments, the phenomena of chaos and the control of stabilization are verified, and the effectiveness of the proposed method is shown.