Chaotic Speed Control of a DC Motor Using the Sprott-A System for Robotic End-Effector Applications

Abstract

This study investigates the use of chaotic speed control, based on the Sprott-A chaotic system, for improving the performance and stability of DC motor-driven robotic end-effector mixers. The chaotic differential equations were implemented and numerically solved in MATLAB/Simulink using the fourth-order Runge–Kutta method, and the resulting time series were analyzed. Among the variables generated, the X_t signal was selected for pulse-width modulation (PWM) due to its smooth dynamic characteristics. This signal was scaled to match the 0–100% duty cycle range and applied to the motor driver as a control input. The chaotic control system was realized both through analog circuit simulation in OrCAD and experimentally using an STM32F407 microcontroller. Time series, phase portraits, and oscilloscope outputs confirmed the consistency between simulation and hardware implementations. Compared to chaotic Y_t and Z_t signals, the chaotic X_t based PWM control reduced motor vibrations and provided more stable speed regulation. These results demonstrate the feasibility and effectiveness of chaotic dynamics for real-time motor control in robotic mixing applications, offering a robust alternative to traditional deterministic methods.

Keywords

• Robotics
• Chaos theory
• Motor speed control
• PWM

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