Robust Generation of Self-Oscillation in Pendulum Systems: A switched Integral Sliding Mode Control Approach

Juan E. Velázquez-Velázquez; Rosalba Galván-Guerra; Leonid Fridman

doi:10.1016/j.ifacol.2017.08.584

Robust Generation of Self-Oscillation in Pendulum Systems: A switched Integral Sliding Mode Control Approach

Juan E. Velázquez-Velázquez, Rosalba Galván-Guerra, Leonid Fridman

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

A two relay controller is robustified by a switched integral sliding mode controller in order to generate robust self-oscillations for pendulum systems. The proposed strategy assures theoretically exact robustification of the self-oscillations preserving the amplitude and frequency of the oscillations even in the presence of matched uncertainties/perturbations. The efficiency of the proposed robustifying approach is illustrated on an example of a Furuta pendulum.

Original language	English
Pages (from-to)	7163-7168
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.584
State	Published - Jul 2017
Externally published	Yes

Keywords

Robust Performance
Self Oscillation
Sliding-mode Control
Switched System

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10.1016/j.ifacol.2017.08.584

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abstract = "A two relay controller is robustified by a switched integral sliding mode controller in order to generate robust self-oscillations for pendulum systems. The proposed strategy assures theoretically exact robustification of the self-oscillations preserving the amplitude and frequency of the oscillations even in the presence of matched uncertainties/perturbations. The efficiency of the proposed robustifying approach is illustrated on an example of a Furuta pendulum.",

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AU - Fridman, Leonid

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AB - A two relay controller is robustified by a switched integral sliding mode controller in order to generate robust self-oscillations for pendulum systems. The proposed strategy assures theoretically exact robustification of the self-oscillations preserving the amplitude and frequency of the oscillations even in the presence of matched uncertainties/perturbations. The efficiency of the proposed robustifying approach is illustrated on an example of a Furuta pendulum.

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KW - Self Oscillation

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KW - Switched System

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Robust Generation of Self-Oscillation in Pendulum Systems: A switched Integral Sliding Mode Control Approach

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Keywords

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