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Chaos Control and Its Application in Robot Manipulators.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Chaos Control and Its Application in Robot Manipulators./
Author:	Kharabian, Behrouz.
Description:	1 online resource (178 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 86-01, Section: B.
Contained By:	Dissertations Abstracts International86-01B.
Subject:	Engineering. -
Online resource:	click for full text (PQDT)
ISBN:	9798383185698

Chaos Control and Its Application in Robot Manipulators.
Kharabian, Behrouz.

Chaos Control and Its Application in Robot Manipulators. - 1 online resource (178 pages)

Source: Dissertations Abstracts International, Volume: 86-01, Section: B.

Thesis (Ph.D.)--Kent State University, 2024.

Includes bibliographical references

Chaos is a common phenomenon in multidimensional, nonlinear systems. The evolution of a chaotic system is sensitive to initial conditions, leading to distinct characteristics such as unpredictability and topological transitivity. These unique properties make chaotic systems valuable in various practical domains, including secure communication, electronics, nonlinear optics, and signal processing.The stabilization of chaotic systems has been a focal point of research in nonlinear systems control. Various control strategies, such as sliding mode control, nonlinear feedback control, and backstepping control, have been employed to manage chaotic behavior. In work, we developed an innovative, nonlinear fuzzy feedback control approach to stabilize unknown chaotic systems by strategically placing Lyapunov exponents. We designed a fuzzy control law to position the Lyapunov exponents in desired locations, effectively eliminating chaotic behavior. Simulation results underscore the robustness of our proposed method against external uncertainties, demonstrating superior performance compared to state-of-the-art control approaches in stabilizing a Duffing oscillator and Lorenz system circuit.Chaos synchronization, particularly relevant in secure communication, involves the coordination of two sets of chaotic systems, namely the drive and response systems. Achieving proper synchronization requires a suitable control algorithm to stabilize the synchronization error dynamics arising from disparities between the two systems, steering them toward an equilibrium point, often the origin. In a separate study, we developed a hybrid control strategy that integrates adaptive backstepping and fuzzy sliding mode control for synchronizing two chaotic systems. Our approach demonstrates rapid and highly accurate chaos synchronization, even in the presence of unknown system parameters and external disturbances.To enhance the security of data communication, we introduced a novel chaos synchronization scheme termed compound-combination switched projective synchronization (CCSPS). This innovative approach amalgamates combination synchronization, compound synchronization, switched synchronization, and projective synchronization into a cohesive framework. Although CCSPS introduces heightened complexity compared to existing synchronization schemes, its primary goal is to enhance the security of data communication during fractional-order chaotic systems synchronization.Additionally, we expanded our research into the utilization of chaotic dynamics for controlling robot manipulators. Our focus involved exploring control methodologies to achieve precise tracking of chaotic trajectories within the joint space of the robot manipulator. In our initial investigation, we introduced an adaptive neuro-fuzzy sliding mode control technique tailored for synchronizing multiple fractional-order flexible link manipulators characterized by parametric uncertainty.In an implementation study, we used the adaptive neuro-fuzzy sliding mode control method for precise tracking of non-smooth trajectories in a robot manipulator, even in the presence of time-varying disturbances. The implementation results are promising, demonstrating the potential of the proposed method as an alternative to existing control approaches for the tracking control of manipulators.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798383185698Subjects--Topical Terms:

561152
Engineering.
Subjects--Index Terms:

Robot manipulatorsIndex Terms--Genre/Form:

554714
Electronic books.

Chaos Control and Its Application in Robot Manipulators.
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