Output excitation via continuous sliding-modes to generate periodic motion in underactuated systems

Luis T. Aguilar, Igor Boiko, Leonid Fridman, Rafael Iriarte

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

4 Scopus citations

Abstract

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.

Original languageBritish English
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1629-1634
Number of pages6
ISBN (Print)1424401712, 9781424401710
DOIs
StatePublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: 13 Dec 200615 Dec 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference45th IEEE Conference on Decision and Control 2006, CDC
Country/TerritoryUnited States
CitySan Diego, CA
Period13/12/0615/12/06

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