【摘要】 应用混沌控制方法中的周期扰动参数方法有效地控制了平面2R机器人机构中的混沌运动.在周期扰动参数控制法中,外扰周期信号的频率和振幅是混沌控制成功与否的关键.通过计算系统的最大Lyapunov指数的符号与频率或振幅的关系,可以选取适当的频率和振幅,将系统的混沌运动转化为规则的周期运动.更多还原

【Abstract】 The chaotic motion of a planar 2R robot was suppressed efficiently by applying periodic perturbation.The frequency and the amplitude of the applied periodic signal are two key parameters in the periodic perturbation control.The proper frequency and the amplitude of the periodic signal are obtained by calculating the largest Lyapunov exponent of the system to transform the chaotic motions into regular periodic ones.更多还原