文章基本信息

标题：Robust Generation of Self-Oscillation in Pendulum Systems: A switched Integral Sliding Mode Control Approach * * This paper was financial supported by UNAM-DGAPA-PAPIIT, grant IN112915
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作者：Juan E. Velázquez-Velázquez ; Rosalba Galván-Guerra ; Leonid Fridman 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：7163-7168
DOI：10.1016/j.ifacol.2017.08.584
语种：English
出版社：Elsevier
摘要：AbstractA two relay controller is robustified by a switched integral sliding mode controller in order to generate robust self-oscillations for pendulum systems. The proposed strategy assures theoretically exact robustification of the self-oscillations preserving the amplitude and frequency of the oscillations even in the presence of matched uncertainties/perturbations. The efficiency of the proposed robustifying approach is illustrated on an example of a Furuta pendulum.
关键词：KeywordsSliding-mode ControlSelf OscillationRobust PerformanceSwitched System