Chaos control and sensitivity analysis of a double pendulum arm excited by an RLC circuit based nonlinear shaker

In this paper the dynamical interactions of a double pendulum arm and an electromechanical shaker is investigated. The double pendulum is a three degree of freedom system coupled to an RLC circuit based nonlinear shaker through a magnetic field, and the capacitor voltage is a nonlinear function of t...

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Bibliographic Details
Published in:Journal of Vibration and Control 2016-10, Vol.22 (17), p.3621-3637
Main Authors: Marcelo Tusset, Angelo, Piccirillo, Vinícius, Bueno, Atila Madureira, Manoel Balthazar, José, Sado, Danuta, Felix, Jorge Luis Palacios, Brasil, Reyolando Manoel Lopes Rebello da Fonseca
Format: Article
Language:English
Subjects:
Chaos theory
Circuits
Electrical engineering
Mathematical analysis
Mathematical models
Nonlinearity
Pendulums
RLC circuits
Robust control
Sensitivity analysis
Shakers
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Summary:In this paper the dynamical interactions of a double pendulum arm and an electromechanical shaker is investigated. The double pendulum is a three degree of freedom system coupled to an RLC circuit based nonlinear shaker through a magnetic field, and the capacitor voltage is a nonlinear function of the instantaneous electric charge. Numerical simulations show the existence of chaotic behavior for some regions in the parameter space and this behaviour is characterized by power spectral density and Lyapunov exponents. The bifurcation diagram is constructed to explore the qualitative behaviour of the system. This kind of electromechanical system is frequently found in robotic systems, and in order to suppress the chaotic motion, the State-Dependent Riccati Equation (SDRE) control and the Nonlinear Saturation control (NSC) techniques are analyzed. The robustness of these two controllers is tested by a sensitivity analysis to parametric uncertainties.
ISSN:1077-5463
1741-2986
DOI:10.1177/1077546314564782