TY - GEN
T1 - Periodic motion of underactuated mechanical systems self-generated by variable structure controllers
T2 - 2007 9th European Control Conference, ECC 2007
AU - Aguilar, Luis T.
AU - Boiko, Igor
AU - Fridman, Leonid
AU - Iriarte, Rafael
N1 - Publisher Copyright:
© 2007 EUCA.
PY - 2007
Y1 - 2007
N2 - A new approach in generating a periodic motion for underactuated mechanical systems using variable structure controllers without computing a reference trajectory is proposed in this paper. The design procedure, in order to find explicit expressions of the controller gain parameters in terms of the desired frequency and amplitude, is made through frequency-domain tool, particularly with describing function method. Performance issue of a self-excited system, applied to a double pendulum, is illustrated by experiments.
AB - A new approach in generating a periodic motion for underactuated mechanical systems using variable structure controllers without computing a reference trajectory is proposed in this paper. The design procedure, in order to find explicit expressions of the controller gain parameters in terms of the desired frequency and amplitude, is made through frequency-domain tool, particularly with describing function method. Performance issue of a self-excited system, applied to a double pendulum, is illustrated by experiments.
UR - http://www.scopus.com/inward/record.url?scp=84927748772&partnerID=8YFLogxK
U2 - 10.23919/ecc.2007.7068960
DO - 10.23919/ecc.2007.7068960
M3 - Contribución a la conferencia
AN - SCOPUS:84927748772
T3 - 2007 European Control Conference, ECC 2007
SP - 3796
EP - 3801
BT - 2007 European Control Conference, ECC 2007
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 2 July 2007 through 5 July 2007
ER -