A Review on Self-oscillating Relay Feedback Systems and Its Application to Underactuated Systems with Degree of Underactuation One

Luis T. Aguilar; Igor Boiko; Leonid Fridman; Rafael Iriarte

doi:10.1007/978-3-642-36986-5_9

A Review on Self-oscillating Relay Feedback Systems and Its Application to Underactuated Systems with Degree of Underactuation One

Luis T. Aguilar, Igor Boiko, Leonid Fridman, Rafael Iriarte

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

A tool for the design of a periodic motion in underactuated systems via generating a self-excited oscillation of a desired amplitude and frequency driven by a variable structure control is reviewed. In this chapter, we overview the capabilities of the two-relay controller to induce oscillations in dynamical systems. In this chapter, we will focus on underactuated mechanical systems with degree of underactuation one, that is, n degrees-of-freedom and n-1 actuators only. Three methods to set the frequency and amplitude of oscillation and its application to one-degree of underactuation systems are reviewed: describing function method, Locus of the perturbed relay system design (LPRS), and Poincaré map based design. Theoretical and practical open problems are also discussed.

Original language	English
Title of host publication	Advances in Sliding Mode Control
Subtitle of host publication	Concept, Theory and Implementation
Publisher	Springer Verlag
Pages	187-205
Number of pages	19
ISBN (Print)	9783642369858
DOIs	https://doi.org/10.1007/978-3-642-36986-5_9
State	Published - 2013
Event	12th IEEE International Workshop on Variable Structure System, VSS 2012 - Mumbai, MH, India Duration: 12 Jan 2012 → 14 Jan 2012

Publication series

Name	Lecture Notes in Control and Information Sciences
Volume	440 LNCIS
ISSN (Print)	0170-8643

Conference

Conference	12th IEEE International Workshop on Variable Structure System, VSS 2012
Country/Territory	India
City	Mumbai, MH
Period	12/01/12 → 14/01/12

Access to Document

10.1007/978-3-642-36986-5_9

Cite this

Aguilar, L. T., Boiko, I., Fridman, L., & Iriarte, R. (2013). A Review on Self-oscillating Relay Feedback Systems and Its Application to Underactuated Systems with Degree of Underactuation One. In Advances in Sliding Mode Control: Concept, Theory and Implementation (pp. 187-205). (Lecture Notes in Control and Information Sciences; Vol. 440 LNCIS). Springer Verlag. https://doi.org/10.1007/978-3-642-36986-5_9

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title = "A Review on Self-oscillating Relay Feedback Systems and Its Application to Underactuated Systems with Degree of Underactuation One",

abstract = "A tool for the design of a periodic motion in underactuated systems via generating a self-excited oscillation of a desired amplitude and frequency driven by a variable structure control is reviewed. In this chapter, we overview the capabilities of the two-relay controller to induce oscillations in dynamical systems. In this chapter, we will focus on underactuated mechanical systems with degree of underactuation one, that is, n degrees-of-freedom and n-1 actuators only. Three methods to set the frequency and amplitude of oscillation and its application to one-degree of underactuation systems are reviewed: describing function method, Locus of the perturbed relay system design (LPRS), and Poincar{\'e} map based design. Theoretical and practical open problems are also discussed.",

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Aguilar, LT, Boiko, I, Fridman, L & Iriarte, R 2013, A Review on Self-oscillating Relay Feedback Systems and Its Application to Underactuated Systems with Degree of Underactuation One. in Advances in Sliding Mode Control: Concept, Theory and Implementation. Lecture Notes in Control and Information Sciences, vol. 440 LNCIS, Springer Verlag, pp. 187-205, 12th IEEE International Workshop on Variable Structure System, VSS 2012, Mumbai, MH, India, 12/01/12. https://doi.org/10.1007/978-3-642-36986-5_9

A Review on Self-oscillating Relay Feedback Systems and Its Application to Underactuated Systems with Degree of Underactuation One. / Aguilar, Luis T.; Boiko, Igor; Fridman, Leonid et al.
Advances in Sliding Mode Control: Concept, Theory and Implementation. Springer Verlag, 2013. p. 187-205 (Lecture Notes in Control and Information Sciences; Vol. 440 LNCIS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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A Review on Self-oscillating Relay Feedback Systems and Its Application to Underactuated Systems with Degree of Underactuation One

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