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)

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

1 Cita (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	Advances in Sliding Mode Control
Subtítulo de la publicación alojada	Concept, Theory and Implementation
Editorial	Springer Verlag
Páginas	187-205
Número de páginas	19
ISBN (versión impresa)	9783642369858
DOI	https://doi.org/10.1007/978-3-642-36986-5_9
Estado	Publicada - 2013
Evento	12th IEEE International Workshop on Variable Structure System, VSS 2012 - Mumbai, MH, India Duración: 12 ene. 2012 → 14 ene. 2012

Serie de la publicación

Nombre	Lecture Notes in Control and Information Sciences
Volumen	440 LNCIS
ISSN (versión impresa)	0170-8643

Conferencia

Conferencia	12th IEEE International Workshop on Variable Structure System, VSS 2012
País/Territorio	India
Ciudad	Mumbai, MH
Período	12/01/12 → 14/01/12

Acceder al documento

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

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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. En 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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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. En 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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