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Robust Stable Limit Cycle Generation in Multi-Input Mechanical Systems

Published online by Cambridge University Press:  29 January 2021

Tahereh Binazadeh Open the ORCID record for Tahereh Binazadeh [Opens in a new window]  and
Mahsa Karimi
Tahereh Binazadeh*
Affiliation:
Department of Electrical and Electronic Engineering, Shiraz University of Technology, Shiraz, Iran E-mail: ms.karimi@sutech.ac.ir
Mahsa Karimi
Affiliation:
Department of Electrical and Electronic Engineering, Shiraz University of Technology, Shiraz, Iran E-mail: ms.karimi@sutech.ac.ir
*
*Corresponding author. E-mail: binazadeh@sutech.ac.ir
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Summary

This paper proposes a robust controller for the generation of stable limit cycles in multi-input mechanical systems subjected to model uncertainties. The proposed idea is based on Port-Controlled Hamiltonian (PCH) model and energy-based control by considering the Hamiltonian function as the Lyapunov function. For this purpose, first, a nominal controller is designed by shaping the energy function of the system according to the structure of the desired limit cycle. Then, an additional robustifying control term is designed based on the integral sliding mode method with the selection of an appropriate sliding surface. Finally, computer simulations for two practical case studies are provided to confirm the effectiveness of the proposed controller in the generation of stable limit cycles in the presence of uncertainties.

Keywords

Stable oscillationRobust limit cycleMulti-input mechanical systemsUncertaintiesEnergy shaping, PCH modelIntegral sliding mode
Type
Article
Information
Robotica , Volume 39 , Issue 7 , July 2021 , pp. 1316 - 1327
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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