Lyapunov function-based adaptive chaos anti control of robot manipulators

Anti control of chaos is a problem that has been studied in recent years. It consists in injecting a chaotic behavior by means of a control scheme to a system, which in natural form does not present any strange behavior. This paper explores the anti control of chaos of robot manipulators. In particular, by using the Lyapunov function framework, an adaptive chaos anti controller is proposed. The proposed scheme has been experimentally tested in a two degrees-of-freedom direct-drive robot, which corresponds to the configuration of fully actuated rotational pendulum.