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.
UR - http://www.scopus.com/inward/record.url?scp=39649123247&partnerID=8YFLogxK
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 -