Periodic motion of underactuated mechanical systems self-generated by variable structure controllers: Design and experiments

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

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

6 Scopus citations

Abstract

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.

Original languageBritish English
Title of host publication2007 European Control Conference, ECC 2007
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3796-3801
Number of pages6
ISBN (Electronic)9783952417386
DOIs
StatePublished - 2007
Event2007 9th European Control Conference, ECC 2007 - Kos, Greece
Duration: 2 Jul 20075 Jul 2007

Publication series

Name2007 European Control Conference, ECC 2007

Conference

Conference2007 9th European Control Conference, ECC 2007
Country/TerritoryGreece
CityKos
Period2/07/075/07/07

Fingerprint

Dive into the research topics of 'Periodic motion of underactuated mechanical systems self-generated by variable structure controllers: Design and experiments'. Together they form a unique fingerprint.

Cite this