Author:
Deng Zhiju,Jiang Shanying
Abstract
Abstract
This article uses the theory of Hopf bifurcation to study the stability[1-2] of nonlinear manipulator system with time delay built by Spong. The period vibration, almost periodic vibration and chaos motion are stabilized by the controllers designed in the article, which is achieved by changed the polynomial u in the dynamic of manipulator. It is proved that the controllers in this article are useful by calculating the eigenvalues of the linear form of the dynamic of manipulator, which are expressed in the complex plane, according to the stability theory[2].
Subject
General Physics and Astronomy
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