Output excitation via continuous sliding-modes to generate periodic motion in underactuated systems

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

doi:10.1109/cdc.2006.377713

Output excitation via continuous sliding-modes to generate periodic motion in underactuated systems

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

4 Scopus citations

Abstract

In this paper, we introduce a new approach in generating a periodic motion for underactuated mechanical systems using continuous sliding-mode (SM) algorithms as a feedback loop, particularly with super-twisting algorithm and Power-Fractional Sliding-Modes (PFSM), without computing a reference trajectory. Periodic solutions of the closed-loop system are found by mean of the describing function method which allows to tune the amplitude and frequency of the oscillations via corresponding gain parameters. Performance issue of a self-excited system, applied to 3-DOF underactuated robot, is illustrated by simulations.

Original language	English
Title of host publication	Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1629-1634
Number of pages	6
ISBN (Print)	1424401712, 9781424401710
DOIs	https://doi.org/10.1109/cdc.2006.377713
State	Published - 2006
Event	45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States Duration: 13 Dec 2006 → 15 Dec 2006

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	45th IEEE Conference on Decision and Control 2006, CDC
Country/Territory	United States
City	San Diego, CA
Period	13/12/06 → 15/12/06

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10.1109/cdc.2006.377713

Cite this

Aguilar, L. T., Boiko, I., Fridman, L., & Iriarte, R. (2006). Output excitation via continuous sliding-modes to generate periodic motion in underactuated systems. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 1629-1634). Article 4177222 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/cdc.2006.377713

Aguilar, Luis T. ; Boiko, Igor ; Fridman, Leonid et al. / Output excitation via continuous sliding-modes to generate periodic motion in underactuated systems. Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. pp. 1629-1634 (Proceedings of the IEEE Conference on Decision and Control).

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title = "Output excitation via continuous sliding-modes to generate periodic motion in underactuated systems",

abstract = "In this paper, we introduce a new approach in generating a periodic motion for underactuated mechanical systems using continuous sliding-mode (SM) algorithms as a feedback loop, particularly with super-twisting algorithm and Power-Fractional Sliding-Modes (PFSM), without computing a reference trajectory. Periodic solutions of the closed-loop system are found by mean of the describing function method which allows to tune the amplitude and frequency of the oscillations via corresponding gain parameters. Performance issue of a self-excited system, applied to 3-DOF underactuated robot, is illustrated by simulations.",

author = "Aguilar, {Luis T.} and Igor Boiko and Leonid Fridman and Rafael Iriarte",

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note = "45th IEEE Conference on Decision and Control 2006, CDC ; Conference date: 13-12-2006 Through 15-12-2006",

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Aguilar, LT, Boiko, I, Fridman, L & Iriarte, R 2006, Output excitation via continuous sliding-modes to generate periodic motion in underactuated systems. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177222, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 1629-1634, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 13/12/06. https://doi.org/10.1109/cdc.2006.377713

Output excitation via continuous sliding-modes to generate periodic motion in underactuated systems. / Aguilar, Luis T.; Boiko, Igor; Fridman, Leonid et al.
Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. p. 1629-1634 4177222 (Proceedings of the IEEE Conference on Decision and Control).

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

TY - GEN

T1 - Output excitation via continuous sliding-modes to generate periodic motion in underactuated systems

AU - Aguilar, Luis T.

AU - Boiko, Igor

AU - Fridman, Leonid

AU - Iriarte, Rafael

PY - 2006

Y1 - 2006

N2 - In this paper, we introduce a new approach in generating a periodic motion for underactuated mechanical systems using continuous sliding-mode (SM) algorithms as a feedback loop, particularly with super-twisting algorithm and Power-Fractional Sliding-Modes (PFSM), without computing a reference trajectory. Periodic solutions of the closed-loop system are found by mean of the describing function method which allows to tune the amplitude and frequency of the oscillations via corresponding gain parameters. Performance issue of a self-excited system, applied to 3-DOF underactuated robot, is illustrated by simulations.

AB - In this paper, we introduce a new approach in generating a periodic motion for underactuated mechanical systems using continuous sliding-mode (SM) algorithms as a feedback loop, particularly with super-twisting algorithm and Power-Fractional Sliding-Modes (PFSM), without computing a reference trajectory. Periodic solutions of the closed-loop system are found by mean of the describing function method which allows to tune the amplitude and frequency of the oscillations via corresponding gain parameters. Performance issue of a self-excited system, applied to 3-DOF underactuated robot, is illustrated by simulations.

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U2 - 10.1109/cdc.2006.377713

DO - 10.1109/cdc.2006.377713

M3 - Contribución a la conferencia

AN - SCOPUS:39649123247

SN - 1424401712

SN - 9781424401710

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 1629

EP - 1634

BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 45th IEEE Conference on Decision and Control 2006, CDC

Y2 - 13 December 2006 through 15 December 2006

ER -

Aguilar LT, Boiko I, Fridman L, Iriarte R. Output excitation via continuous sliding-modes to generate periodic motion in underactuated systems. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc. 2006. p. 1629-1634. 4177222. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/cdc.2006.377713

Output excitation via continuous sliding-modes to generate periodic motion in underactuated systems

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