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

Bingtuan Gao; Xiaohua Zhang; Hongjun Chen; Jianguo Zhao

doi:10.1109/IROS.2009.5353948

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

Bingtuan Gao^*
, Xiaohua Zhang
, Hongjun Chen
, Jianguo Zhao

^*Corresponding author for this work

School of Electrical Engineering and Automation

Southeast University, Nanjing
Michigan State University
Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

37 Scopus citations

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.

Original language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	1296-1301
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5353948
State	Published - 11 Dec 2009
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: 11 Oct 2009 → 15 Oct 2009

Publication series

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

Conference

Conference	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	11/10/09 → 15/10/09

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10.1109/IROS.2009.5353948

Cite this

Gao, B., Zhang, X., Chen, H., & Zhao, J. (2009). Energy-based control design of an underactuated 2-dimensional TORA system. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 1296-1301). Article 5353948 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5353948

@inproceedings{a276aedce07d4a50b7dff440cc619ae5,

title = "Energy-based control design of an underactuated 2-dimensional TORA system",

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.",

author = "Bingtuan Gao and Xiaohua Zhang and Hongjun Chen and Jianguo Zhao",

year = "2009",

month = dec,

day = "11",

doi = "10.1109/IROS.2009.5353948",

language = "英语",

isbn = "9781424438044",

series = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

pages = "1296--1301",

booktitle = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

note = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 ; Conference date: 11-10-2009 Through 15-10-2009",

}

Gao, B, Zhang, X, Chen, H & Zhao, J 2009, Energy-based control design of an underactuated 2-dimensional TORA system. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5353948, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 1296-1301, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 11/10/09. https://doi.org/10.1109/IROS.2009.5353948

Energy-based control design of an underactuated 2-dimensional TORA system. / Gao, Bingtuan; Zhang, Xiaohua; Chen, Hongjun et al.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 1296-1301 5353948 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - 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.

AB - 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.

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ER -

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

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