Journal
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
Volume 36, Issue 1, Pages 111-118Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0142331213495438
Keywords
2DTORA; Euler-Lagrange system; passivity-based control design; underactuated
Funding
- National Science Foundation of China [11102039]
- Natural Science Foundation of Jiangsu Province [BK2011456]
- Specialized Research Fund for the Doctoral Program of Higher Education [20100092120045]
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An underactuated two-dimensional translational oscillator with rotational actuator (2DTORA) consisting of an actuated rotational proof-mass and two unactuated translational carts is presented. Passivity-based control design is employed for 2DTORA based on its Euler-Lagrange structure and passivity property. Firstly, the dynamics of 2DTORA are derived based on Euler-Lagrange equations. Motivated by constructing a damped close-loop Euler-Lagrange system, the controller dynamics is designed to shape the potential energy and inject the required damping. As a result, the designed controller stabilizes the underactuated 2DTORA with the feedback of the rotational actuator's position only. Moreover, by modifying controller dynamics with a saturation function, the control input can be constrained to certain bounds. Finally, simulation results demonstrate the feasibility and effectiveness of the proposed controllers.
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