Dynamical modeling and energy-based control design for TORA

被引：11
|
作者：
Gao, Bing-Tuan [1 ]
机构：
[1] School of Electrical Engineering, Southeast University
来源：
Zidonghua Xuebao/ Acta Automatica Sinica | 2008年 / 34卷 / 09期
关键词：
Energy-based control design; Lyapunov function; Passivity; TORA; Underactuated;
D O I：
10.3724/SP.J.1004.2008.01221
中图分类号：
学科分类号：
摘要：
A state feedback controller is designed for an underactuated TORA (translational oscillators with rotating actuator). Based on Lagrange equations, the dynamics of TORA is derived. The total energy of the system is employed to show the passivity property of TORA, and then a proper Lyapunov function including energy item is designed. Based on Lyapunov theory, a state feedback control algorithm is achieved. The stability of the control system is based on LaSalle invariance theorem. Finally, simulation results demonstrate the feasibility of the presented controller.
引用
收藏
页码：1221 / 1224
页数：3
相关论文
共 10 条
  • [1] Robert T.B., Bernstein D.S., Coppola V.T., A benchmark problem for nonlinear control design, International Journal of Robust and Nonlinear Control, 8, 4-5, pp. 307-310, (1998)
  • [2] Panagiotis T., Martin C., Mario A.R., An L<sub>2</sub> disturbance attenuation solution to the nonlinear benchmark problem, International Journal of Robust and Nonlinear Control, 8, 4-5, pp. 311-330, (1998)
  • [3] Robert T.B., Bernstein D.S., Coppola V.T., Experimental implementation of integrator backstepping and passive nonlinear controllers on the RTAC testbed, International Journal of Robust and Nonlinear Control, 8, 4-5, pp. 435-457, (1998)
  • [4] Wan C.J., Bernstein D.S., Coppola V.T., Global stabilization of the oscillating eccentric rotor, Proceedings of the 33rd IEEE Conference on Decision and Control, pp. 4024-4029, (1994)
  • [5] Jankovic M., Fontaine D., Kokotovic P.V., TORA example: Cascade and passivity-based control designs, IEEE Transactions on Control Systems Technology, 4, 3, pp. 292-297, (1996)
  • [6] Alleyne A., Physical insights on passivity-based TORA control designs, IEEE Transactions on Control Systems Technology, 6, 3, pp. 436-439, (1998)
  • [7] Tadmor G., Dissipative design, lossless dynamics, and the nonlinear TORA benchmark example, IEEE Transactions on Control Systems Technology, 9, 2, pp. 391-398, (2001)
  • [8] Jiang Z.P., Kanellakopoulos I., Global output feedback tracking for a benchmark nonlinear system, IEEE Transactions on Automatic Control, 45, 5, pp. 1023-1027, (2000)
  • [9] Pavlov A., Janssen B., van de Wouw N., Nijmeijer H., Experimental output regulation for the TORA system, Proceedings of the 44th IEEE Conference on Decision and Control, and European Control Conference, pp. 1108-1113, (2005)
  • [10] Hung L.C., Lin H.P., Chung H.Y., Design of self-tuning fuzzy sliding mode control for TORA system, Expert Systems with Applications, 32, 1, pp. 201-212, (2007)
1