Synchronous dynamics of robotic arms driven by Chua circuits

doi:10.1088/1674-1056/adc2e1

Abstract This study investigates chaotic synchronization via field-coupled nonlinear circuits, achieving both electrical synchronization and energy balance. The driving mechanism biomimetically parallels neuromuscular signal transduction, where synchronized neuronal firing induces coordinated muscle contractions that produce macroscopic movement. We implement a Chua circuit-driven robotic arm with tunable periodic/chaotic oscillations through parameter modulation and external current injection. Bifurcation analysis maps oscillation modes under varying external stimuli. Inductive coupling between two systems with distinct initial conditions facilitates magnetic energy transfer, optimized by an energy balance criterion. A bio-inspired exponential gain method dynamically regulates the coupling strength to optimize the energy transfer efficiency. The effects of ambient electromagnetic noise on synchronization are systematically quantified. The results indicate electrically modulatable robotic arm dynamics, with the coupled systems achieving autonomous rapid synchronization. Despite noise-induced desynchronization, inter-system errors rapidly decay and stabilize within bounded limits, confirming robust stability.

Keywords: Hamilton energy field coupling synchronization robotic arms

Received: 03 January 2025
Revised: 20 February 2025
Accepted manuscript online: 20 March 2025

PACS:	05.45.-a	(Nonlinear dynamics and chaos)
	05.45.Xt	(Synchronization; coupled oscillators)
	52.35.Mw	(Nonlinear phenomena: waves, wave propagation, and other interactions (including parametric effects, mode coupling, ponderomotive effects, etc.))
	52.55.Dy	(General theory and basic studies of plasma lifetime, particle and heat loss, energy balance, field structure, etc.)

Fund: Project supported by the National Key R&D Program of China (Grant No. 2023YFD2000601-02).

Corresponding Authors: Xufeng Wang
E-mail: wxfwyq@126.com

Cite this article:

Guoping Sun(孙国平), Mingxin Xu(许明鑫), Guoqiang Jin(金国强), and Xufeng Wang(王旭峰) Synchronous dynamics of robotic arms driven by Chua circuits 2025 Chin. Phys. B 34 060501

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