Energy-based control design of an underactuated 2-dimensional TORA system

Author

Gao, Bingtuan ; Zhang, Xiaohua ; Chen, Hongjun ; Zhao, Jianguo

Author_Institution

Sch. of Electr. Eng., Southeast Univ., Nanjing, China

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

1296

Lastpage

1301

Abstract

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.

Keywords

Lyapunov methods; nonlinear control systems; robot dynamics; state feedback; Lagrange equations; Lyapunov function; energy-based control design; state feedback control algorithm; translational oscillation; underactuated 2-dimensional TORA system; Actuators; Control design; Control systems; Lagrangian functions; Lyapunov method; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5353948

Filename

5353948