@inproceedings{b755a50b384f4d19b5736cba64a1821c,
title = "Generation of periodic motions for underactuated mechanical system via second-order sliding-modes",
abstract = "The generation of periodic motion for a simple underactuated manipulator, named Pendubot is made through second-order sliding-mode (SOSM) algorithms, particularly with twisting algorithm. This study is motivated by the fact that in the presence of an actuator, the transient process converge to a periodic solution. To obtain the desired amplitude and velocity of oscillations we use describing function and locus of a perturbed relay system approach to provide the corresponding gain parameters. Performance issue of the controller is illustrated in a simulation study.",
author = "Aguilar, {Luis T.} and Igor Boiko and Leonid Fridman and Rafael Iriarte",
year = "2006",
doi = "10.1109/acc.2006.1657581",
language = "Ingl{\'e}s",
isbn = "1424402107",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5396--5400",
booktitle = "Proceedings of the 2006 American Control Conference",
address = "Estados Unidos",
note = "2006 American Control Conference ; Conference date: 14-06-2006 Through 16-06-2006",
}