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

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dc.contributor.authorCassiano, Jefferson
dc.contributor.authorBalthazar, José Manoel [UNESP]
dc.contributor.institutionUniversidade Estadual Paulista (Unesp)
dc.contributor.institutionUniversidade 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.issued2007-06-01
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.en
dc.description.affiliationUNESP Rio Claro, Dept Stat Appl Math & Computat, BR-13500230 Rio Claro, SP, Brazil
dc.description.affiliationUniv Estadual Campinas, Fac Mech Engn, Dept Mech Design, BR-13083970 Campinas, SP, Brazil
dc.description.affiliationUnespUNESP Rio Claro, Dept Stat Appl Math & Computat, BR-13500230 Rio Claro, SP, Brazil
dc.format.extent2009-2020
dc.identifierhttp://dx.doi.org/10.1142/S021812740701818X
dc.identifier.citationInternational Journal of Bifurcation and Chaos. Singapore: World Scientific Publ Co Pte Ltd, v. 17, n. 6, p. 2009-2020, 2007.
dc.identifier.doi10.1142/S021812740701818X
dc.identifier.issn0218-1274
dc.identifier.urihttp://hdl.handle.net/11449/24806
dc.identifier.wosWOS:000252021800009
dc.language.isoeng
dc.publisherWorld Scientific Publ Co Pte Ltd
dc.relation.ispartofInternational Journal of Bifurcation and Chaos
dc.relation.ispartofjcr1.501
dc.relation.ispartofsjr0,568
dc.rights.accessRightsAcesso restrito
dc.sourceWeb of Science
dc.subjectchaospt
dc.subjectcontrolpt
dc.subjectPoincare-Mel'nikov methodpt
dc.subjectnonholonomic manipulatorpt
dc.titleOn homoclinic chaos and a control chaos strategy applied to a free-joint nonholonomic manipulatoren
dc.typeArtigo
dcterms.licensehttp://www.worldscientific.com/page/authors/author-rights
dcterms.rightsHolderWorld Scientific Publ Co Pte Ltd
unesp.author.orcid0000-0002-9796-3609[2]
unesp.campusUniversidade Estadual Paulista (Unesp), Instituto de Geociências e Ciências Exatas, Rio Claropt

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Artigos - Estatistica, Matemática Aplicada e Computação - IGCE