Stabilizing control and chaos phenomena of 2-link pneumatic manipulator with dead time

This research develops with stabilizing control and chaos phenomena of a 2-link pneumatic manipulator in following a circular trajectory by considering a dead time. In generally it is difficult for this manipulator to follow a desired trajectory, because chaos is often caused in the manipulator with a dead time of the pneumatic signal transmitted through the long air tube. In order to solve this land of problem, the chaos behavior is made clear by recording the Lyapunov exponent of the trajectory, and a new stabilizing method with a neural networks (NN) is proposed. Through simulation and experiment, the occurrence of chaos and the possibility of stabilization are verified by using the proposed method.