NDLI: Output Excitation via Continuous Sliding-Modes to Generate Periodic Motion in Underactuated Systems

Content Provider	IEEE Xplore Digital Library
Author	Aguilar, L.T. Boiko, I. Fridman, L. Iriarte, R.
Copyright Year	2006
Description	Author affiliation: Inst. Politecnico Nacional, Centro de Investigation y Desarrollo de Tecnologia Digital, San Diego, CA (Aguilar, L.T.)
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
Starting Page	1629
Ending Page	1634
File Size	293930
Page Count	6
File Format	PDF
ISBN	1424401712
DOI	10.1109/CDC.2006.377713
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Frequency Motion control Sliding mode control Power generation Mechanical systems Samarium Robots Limit-cycles Motion analysis
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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Output Excitation via Continuous Sliding-Modes to Generate Periodic Motion in Underactuated Systems