Output excitation via second-order sliding-modes to generate periodic motion for underactuated systems

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

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

5 Scopus citations

Abstract

Generation of periodic motion for underactuated manipulator is done through the second-order sliding-mode (SOSM) algorithms, particularly via the twisting algorithm. This study is motivated by the recent results which show that the SOSM algorithm may generate a periodic motion if the relative degree of the plant is higher than two. To obtain the desired amplitude and velocity of oscillations we use the describing function and the locus of a perturbed relay system approach. Performance issue of the controllers is illustrated in a simulation study made for a three-link underactuated robot.

Original languageBritish English
Title of host publicationProceedings of the 2006 International Workshop on Variable Structure Systems, VSS'06
Pages359-364
Number of pages6
DOIs
StatePublished - 2006
Event2006 International Workshop on Variable Structure Systems, VSS'06 - Alghero, Italy
Duration: 5 Jun 20067 Jun 2006

Publication series

NameProceedings of the 2006 International Workshop on Variable Structure Systems, VSS'06
Volume2006

Conference

Conference2006 International Workshop on Variable Structure Systems, VSS'06
Country/TerritoryItaly
CityAlghero
Period5/06/067/06/06

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