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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

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 Poincaré map based design. Theoretical and practical open problems are also discussed.

Original languageBritish English
Title of host publicationAdvances in Sliding Mode Control
Subtitle of host publicationConcept, Theory and Implementation
PublisherSpringer Verlag
Pages187-205
Number of pages19
ISBN (Print)9783642369858
DOIs
StatePublished - 2013
Event12th IEEE International Workshop on Variable Structure System, VSS 2012 - Mumbai, MH, India
Duration: 12 Jan 201214 Jan 2012

Publication series

NameLecture Notes in Control and Information Sciences
Volume440 LNCIS
ISSN (Print)0170-8643

Conference

Conference12th IEEE International Workshop on Variable Structure System, VSS 2012
Country/TerritoryIndia
CityMumbai, MH
Period12/01/1214/01/12

Fingerprint

Dive into the research topics of 'A Review on Self-oscillating Relay Feedback Systems and Its Application to Underactuated Systems with Degree of Underactuation One'. Together they form a unique fingerprint.

Cite this