Title :
Dynamics and energy-based control of TORA system on a slope
Author :
Bingtuan Gao ; Honggang Song ; Jianguo Zhao ; Chengya Gong
Author_Institution :
Sch. of Electr. Eng., Southeast Univ., Nanjing, China
Abstract :
The Translational Oscillators with Rotating Actuator (TORA) is an underactuated system which has one actuated rotor and one unactuated translational cart. This paper focuses on dynamics and control design of an underactuated TORA on a slope. Lagrange Equations are employed to achieve the dynamics of the TORA on a slope by selecting position of a cart and rotor angle as the general coordinates and torque acting on the rotor as general force. Based on the passivity of the system, a control Lyapunov function including system energy is designed. Consequently, a stabilizing controller is yielded based on the second Lyapunov stability theorem. Finally, numerical simulations are performed to verify the correctness and feasibility of the dynamic analysis and stabilizing controller.
Keywords :
Lyapunov methods; control system synthesis; nonlinear control systems; position control; rotors; stability; torque control; Lagrange equations; PD controller; TORA dynamics; TORA system; actuated rotor; cart position; control Lyapunov function; control design; dynamic analysis; energy-based control; nonlinear control; numerical simulation; rotor angle; second Lyapunov stability theorem; stabilizing controller; system energy; system passivity; torque; translational oscillators with rotating actuator; unactuated translational cart; underactuated system; Dynamics; Friction; Gravity; Oscillators; Potential energy; Rotors; Torque;
Conference_Titel :
Cyber Technology in Automation, Control and Intelligent Systems (CYBER), 2013 IEEE 3rd Annual International Conference on
Conference_Location :
Nanjing
Print_ISBN :
978-1-4799-0610-9
DOI :
10.1109/CYBER.2013.6705474
