TY - JOUR
T1 - Generating self-excited oscillations for underactuated mechanical systems via two-relay controller
AU - Aguilar, Luis T.
AU - Boiko, Igor
AU - Fridman, Leonid
AU - Iriarte, Rafael
PY - 2009/9
Y1 - 2009/9
N2 - A tool for the design of a periodic motion in an underactuated mechanical system via generating a self-excited oscillation of a desired amplitude and frequency by means of the variable structure control is proposed. First, an approximate approach based on the describing function method is given, which requires that the mechanical plant should be a linear low-pass filter-the hypothesis that usually holds when the oscillations are relatively fast. The method based on the locus of a perturbed relay systems provides an exact model of the oscillations when the plant is linear. Finally, the Poincare map's design provides the value of the controller parameters ensuring the locally orbitally stable periodic motions for an arbitrary mechanical plant. The proposed approach is shown by the controller design and experiments on the Furuta pendulum.
AB - A tool for the design of a periodic motion in an underactuated mechanical system via generating a self-excited oscillation of a desired amplitude and frequency by means of the variable structure control is proposed. First, an approximate approach based on the describing function method is given, which requires that the mechanical plant should be a linear low-pass filter-the hypothesis that usually holds when the oscillations are relatively fast. The method based on the locus of a perturbed relay systems provides an exact model of the oscillations when the plant is linear. Finally, the Poincare map's design provides the value of the controller parameters ensuring the locally orbitally stable periodic motions for an arbitrary mechanical plant. The proposed approach is shown by the controller design and experiments on the Furuta pendulum.
KW - Frequency domain methods
KW - Periodic solution
KW - Underactuated systems
KW - Variable structure systems
UR - http://www.scopus.com/inward/record.url?scp=68949141764&partnerID=8YFLogxK
U2 - 10.1080/00207170802657363
DO - 10.1080/00207170802657363
M3 - Artículo
SN - 0020-7179
VL - 82
SP - 1678
EP - 1691
JO - International Journal of Control
JF - International Journal of Control
IS - 9
ER -