Title :
Chaotic dynamics in a PD-controlled pendulum
Author :
Alvarez, Joaquin
Author_Institution :
CICESE, Ensenada, Mexico
fDate :
29 June-1 July 1994
Abstract :
The dynamic behavior of a single pendulum controlled by a proportional-derivative (PD) compensator is analyzed. By using the Melnikov theory it is shown that the pendulum may exhibit a chaotic behavior when the tracking signal is periodic and the dissipation and controller gains are small.
Keywords :
chaos; compensation; dynamics; feedback; intelligent control; pendulums; two-term control; Melnikov theory; PD compensator; PD-controlled pendulum; chaotic dynamics; controller gain; dissipation gain; dynamic behavior; robotics; tracking signal; Bifurcation; Chaos; Control systems; Feedback; Manipulator dynamics; Numerical simulation; Orbits; PD control; Proportional control; Robot control;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751799
