Identification based generation of self-excited oscillations for underactuated mechanical systems via Two-relay algorithm

Luis T. Aguilar; Igor Boiko; Leonid Fridman; Alejandra Ferreira

doi:10.1109/VSS.2008.4570680

Identification based generation of self-excited oscillations for underactuated mechanical systems via Two-relay algorithm

Luis T. Aguilar, Igor Boiko, Leonid Fridman, Alejandra Ferreira

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

10 Scopus citations

Abstract

A tool for generating a self-excited oscillations for underactuated mechanical systems by means of a variable structure controller is proposed. The design procedure allows to find the explicit expressions of the controller gain parameters in terms of the desired frequency and amplitude through Describing Function (DF) method. Necessary conditions for orbital asymptotic stability of linear systems are derived via a modification of the Loeb criteria. The identification and compensation method yields an exact linearization of the original nonlinear system avoiding imperfections on oscillations characteristics. Performance issue of a self-excited system, applied to a Furuta pendulum, is illustrated by simulations.

Original language	English
Title of host publication	IEEE 10th International Workshop on Variable Structure Systems, VSS'08
Pages	41-46
Number of pages	6
DOIs	https://doi.org/10.1109/VSS.2008.4570680
State	Published - 2008
Externally published	Yes
Event	IEEE 10th International Workshop on Variable Structure Systems, VSS'08 - Antalya, Turkey Duration: 8 Jun 2008 → 10 Jun 2008

Publication series

Name	IEEE 10th International Workshop on Variable Structure Systems, VSS'08

Conference

Conference	IEEE 10th International Workshop on Variable Structure Systems, VSS'08
Country/Territory	Turkey
City	Antalya
Period	8/06/08 → 10/06/08

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10.1109/VSS.2008.4570680

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Aguilar, L. T., Boiko, I., Fridman, L., & Ferreira, A. (2008). Identification based generation of self-excited oscillations for underactuated mechanical systems via Two-relay algorithm. In IEEE 10th International Workshop on Variable Structure Systems, VSS'08 (pp. 41-46). Article 4570680 (IEEE 10th International Workshop on Variable Structure Systems, VSS'08). https://doi.org/10.1109/VSS.2008.4570680

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title = "Identification based generation of self-excited oscillations for underactuated mechanical systems via Two-relay algorithm",

abstract = "A tool for generating a self-excited oscillations for underactuated mechanical systems by means of a variable structure controller is proposed. The design procedure allows to find the explicit expressions of the controller gain parameters in terms of the desired frequency and amplitude through Describing Function (DF) method. Necessary conditions for orbital asymptotic stability of linear systems are derived via a modification of the Loeb criteria. The identification and compensation method yields an exact linearization of the original nonlinear system avoiding imperfections on oscillations characteristics. Performance issue of a self-excited system, applied to a Furuta pendulum, is illustrated by simulations.",

author = "Aguilar, {Luis T.} and Igor Boiko and Leonid Fridman and Alejandra Ferreira",

year = "2008",

doi = "10.1109/VSS.2008.4570680",

language = "Ingl{\'e}s",

isbn = "9781424422005",

series = "IEEE 10th International Workshop on Variable Structure Systems, VSS'08",

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note = "IEEE 10th International Workshop on Variable Structure Systems, VSS'08 ; Conference date: 08-06-2008 Through 10-06-2008",

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Aguilar, LT, Boiko, I, Fridman, L & Ferreira, A 2008, Identification based generation of self-excited oscillations for underactuated mechanical systems via Two-relay algorithm. in IEEE 10th International Workshop on Variable Structure Systems, VSS'08., 4570680, IEEE 10th International Workshop on Variable Structure Systems, VSS'08, pp. 41-46, IEEE 10th International Workshop on Variable Structure Systems, VSS'08, Antalya, Turkey, 8/06/08. https://doi.org/10.1109/VSS.2008.4570680

Identification based generation of self-excited oscillations for underactuated mechanical systems via Two-relay algorithm. / Aguilar, Luis T.; Boiko, Igor; Fridman, Leonid et al.
IEEE 10th International Workshop on Variable Structure Systems, VSS'08. 2008. p. 41-46 4570680 (IEEE 10th International Workshop on Variable Structure Systems, VSS'08).

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

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AB - A tool for generating a self-excited oscillations for underactuated mechanical systems by means of a variable structure controller is proposed. The design procedure allows to find the explicit expressions of the controller gain parameters in terms of the desired frequency and amplitude through Describing Function (DF) method. Necessary conditions for orbital asymptotic stability of linear systems are derived via a modification of the Loeb criteria. The identification and compensation method yields an exact linearization of the original nonlinear system avoiding imperfections on oscillations characteristics. Performance issue of a self-excited system, applied to a Furuta pendulum, is illustrated by simulations.

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BT - IEEE 10th International Workshop on Variable Structure Systems, VSS'08

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Aguilar LT, Boiko I, Fridman L, Ferreira A. Identification based generation of self-excited oscillations for underactuated mechanical systems via Two-relay algorithm. In IEEE 10th International Workshop on Variable Structure Systems, VSS'08. 2008. p. 41-46. 4570680. (IEEE 10th International Workshop on Variable Structure Systems, VSS'08). doi: 10.1109/VSS.2008.4570680

Identification based generation of self-excited oscillations for underactuated mechanical systems via Two-relay algorithm

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