Self-Oscillations in Dynamic Systems
A New Methodology via Two-Relay Controllers
Authors: Aguilar, L.T., Boiko, I., Fridman, L., Iriarte, R.
Free Preview- 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
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- About this book
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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.
- Reviews
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“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)
- Table of contents (10 chapters)
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Introduction
Pages 1-16
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Describing Function-Based Design of TRC for Generation of Self-Oscillation
Pages 19-37
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Poincaré Map-Based Design
Pages 39-52
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Self-Oscillation via Locus of a Perturbed Relay System Design (LPRS)
Pages 53-64
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Robustification of the Self-Oscillation via Sliding Modes Tracking Controllers
Pages 67-80
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Table of contents (10 chapters)
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Bibliographic Information
- Bibliographic Information
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- Book Title
- Self-Oscillations in Dynamic Systems
- Book Subtitle
- A New Methodology via Two-Relay Controllers
- Authors
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- Luis T. Aguilar
- Igor Boiko
- Leonid Fridman
- Rafael Iriarte
- Series Title
- Systems & Control: Foundations & Applications
- Copyright
- 2015
- Publisher
- Birkhäuser Basel
- Copyright Holder
- Springer International Publishing Switzerland
- eBook ISBN
- 978-3-319-23303-1
- DOI
- 10.1007/978-3-319-23303-1
- Hardcover ISBN
- 978-3-319-23302-4
- Softcover ISBN
- 978-3-319-36537-4
- Series ISSN
- 2324-9749
- Edition Number
- 1
- Number of Pages
- XIV, 158
- Topics
