Abstract

Under some circumstances, a planar closed chain five-bar underactuated mechanism exhibits chaotic motion. The edge of chaos is the transitory region between deterministic and chaotic motion. A new idea to control chaos by changing the parameters of the dynamical system at the edge of chaos is proposed in this paper. Permutation entropy is employed to detect the edge of chaos, and its normalizing equation is modified for making it more sensitive to the irregularity of the time series. Instead of the dynamical edge of chaos, the static edge of chaos is utilized to make the plan of controlling chaos. The study is conducted experimentally. The results show that the method proposed in this paper can control the chaos arising from the underactuated mechanism successfully.

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