Overview
- Describes a quick and efficient method of control synthesis for generating periodic motions
- Demonstrates applications to non-minimum-phase systems, including underactuated mechanisms
- Provides a rigorous theoretical background for the development of two-relay controllers supported by experimental results
Part of the book series: Systems & Control: Foundations & Applications (SCFA)
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About this book
This monograph presents a simple and efficient two-relay control algorithm for generation of self-excited oscillations of a desired amplitude and frequency in dynamic systems. Developed by the authors, the two-relay controller consists of two relays switched by the feedback received from a linear or nonlinear system, and represents a new approach to the self-generation of periodic motions in underactuated mechanical systems.
The first part of the book explains the design procedures for two-relay control using three different methodologies – the describing-function method, Poincaré maps, and the locus-of-a perturbed-relay-system method – and concludes with stability analysis of designed periodic oscillations.
Two methods to ensure the robustness of two-relay control algorithms are explored in the second part, one based on the combination of the high-order sliding mode controller and backstepping, and the other on higher-order sliding-modes-based reconstruction of uncertainties and their compensation where Lyapunov-based stability analysis of tracking error is used. Finally, the third part illustrates applications of self-oscillation generation by a two-relay control with a Furuta pendulum, wheel pendulum, 3-DOF underactuated robot, 3-DOF laboratory helicopter, and fixed-phase electronic circuits.
Self-Oscillations in Dynamic Systems will appeal to engineers, researchers, and graduate students working on the tracking and self-generation of periodic motion of electromechanical systems, including non-minimum-phase systems. It will also be of interest to mathematicians working on analysis of periodic solutions.
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Keywords
Table of contents (10 chapters)
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Front Matter
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Design of Self-Oscillations Using Two-Relay Controller
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Front Matter
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Robustification of Self-Oscillations Generated by Two-Relay Controller
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Front Matter
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Back Matter
Reviews
“The book contains ten chapters presented in three parts. … The intended audience for this book consists of mechanical and control scientists and engineers, as well as graduate and Ph.D. students interested in the theory of self-oscillation generation in underactuated dynamic systems.” (Clementina D. Mladenova, Mathematical Reviews, June, 2016)
Authors and Affiliations
Bibliographic Information
Book Title: Self-Oscillations in Dynamic Systems
Book Subtitle: A New Methodology via Two-Relay Controllers
Authors: Luis T. Aguilar, Igor Boiko, Leonid Fridman, Rafael Iriarte
Series Title: Systems & Control: Foundations & Applications
DOI: https://doi.org/10.1007/978-3-319-23303-1
Publisher: Birkhäuser Cham
eBook Packages: Mathematics and Statistics, Mathematics and Statistics (R0)
Copyright Information: Springer International Publishing Switzerland 2015
Hardcover ISBN: 978-3-319-23302-4Published: 12 October 2015
Softcover ISBN: 978-3-319-36537-4Published: 23 August 2016
eBook ISBN: 978-3-319-23303-1Published: 01 October 2015
Series ISSN: 2324-9749
Series E-ISSN: 2324-9757
Edition Number: 1
Number of Pages: XIV, 158
Topics: Systems Theory, Control, Control and Systems Theory, Engineering Design