Energy-Based Control Design of an Underactuated 2-Dimensional TORA System

被引：28
作者：
Gao, Bingtuan [1 ,2 ]
Zhang, Xiaohua [3 ]
Chen, Hongjun [3 ]
Zhao, Jianguo [2 ]
机构：
[1] Southeast Univ, Sch Elect Engn, Nanjing 210096, Peoples R China
[2] Michigan State Univ, Dept Elect & Comp Engn, E Lansing, MI 48824 USA
[3] Harbin Inst Technol, Dept Elect Engn, Harbin 150001, Peoples R China
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
NONLINEAR BENCHMARK PROBLEM; DISTURBANCE ATTENUATION; EXAMPLE; STABILIZATION; TRACKING;
D O I：
10.1109/IROS.2009.5353948
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The translational oscillation with a rotational actuator (TORA) system has been used as a benchmark for motivating the study of nonlinear control techniques. In this paper, modeling and control of a novel 2-dimensional TORA (2DTORA) are presented. The 2DTORA is an underactuated mechanical system which has one actuated rotor and two unactuated translational carts. The dynamics of the 2DTORA system is derived based on Lagrange equations. The total energy of the system is employed to show the passivity property of 2DTORA, and then a simple state feedback control algorithm is developed based on a proper Lyapunov function including energy item. Finally, simulation results are demonstrated.
引用
收藏
页码：1296 / 1301
页数：6
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