Leonid Fridman

Igor Boiko

Luis T. Aguilar

Rafael Iriarte

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.

A New Methodology via Two-Relay Controllers

Self-Oscillations in Dynamic Systems

Witold Pedrycz

Oscar Castillo

Patricia Melin

This book comprises a selection of papers from IFSA 2007 on new methods and theories that contribute to the foundations of fuzzy logic and soft computing. These papers were selected from over 400 submissions and constitute an imp- tant contribution to the theory and applications of fuzzy logic and soft c- puting methodologies. Soft computing consists of several computing paradigms, including fuzzy logic, neural networks, genetic algorithms, and other techniques, which can be used to produce powerful intelligent systems for solving real-world problems. The papers of IFSA 2007 also make a contribution to this goal. This book is intended to be a major reference for scientists and engineers interested in applying new computational and mathematical tools to achieve intelligent solutions to complex problems. We consider that this book can also be used to get novel ideas for new lines of research, or to continue the lines of research proposed by the authors of the papers contained in the book. The book is divided into 14 main parts.Eachpart contains a set of papers on a common subject, so that the reader can ?nd similar papers grouped together. Some of these parts comprise the papers of organized sessions of IFSA 2007 and we thank the session organizers for their incredible job in forming these sessions with invited and regular paper submissions.

12th International Fuzzy Systems Association World Congress, IFSA 2007, Cancun, Mexico, Junw 18-21, 2007, Proceedings

Foundations of Fuzzy Logic and Soft Computing

This book comprises a selection of papers from IFSA 2007 on new methods and theories that contribute to the foundations of fuzzy logic and soft computing. Coverage includes the application of fuzzy logic and soft computing in flexible querying, philosophical and human-scientific aspects of soft computing, search engine and information processing and retrieval, as well as intelligent agents and knowledge ant colony.

Luis T. Aguilar

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