Control design of synchronizing chaos in 2-link pneumatic manipulator

In nonlinear systems, it is well known that chaos phenomena often occur. This research is concerned with both chaos phenomena and synchronizing chaos in 2-link pneumatic manipulator with a dead time. Chaos phenomena are examined with Lyapunov exponent, bifurcation map etc. In the result, it is clarified that chaos phenomena may occur in 2-link pneumatic manipulator. Next, the synchronizing chaos is needed for cooperation between two 2-link manipulators, and for remote control between human and 2-link manipulator. The synchronizing chaos is called when outputs of two different chaotic systems take same values at each time. In this research, a new control method is proposed for synchronizing chaos in two 2-link pneumatic manipulators with different characteristics. Through simulation experiments, it is shown that synchronizing chaos occurs in 2-link pneumatic manipulator with a dead time.