Passivity-based control of two-dimensional translational oscillator with rotational actuator

Gao, Bingtuan; Bao, Yu-Qing; Xie, Jiehua; Jia, Lijuan

doi:10.1177/0142331213495438

Cited by 20 publications

(11 citation statements)

References 18 publications

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“…Assuming that the velocity signal is unavailable and the input is subject to a saturation constraint, an output feedback global stabilization control approach is presented in [14] in terms of the passivity of the TORA system. Moreover, based on the passive property of the TORA system, some output feedback controllers are proposed in [15–17] to control the TORA system without the need for velocity measurements. In [18–24], according to the cascade form model of the TORA system, some output feedback controllers respecting velocity feedback unavailability and sliding mode controllers taking external disturbances into consideration are developed for the stabilization of the TORA system.…”

Section: Introductionmentioning

confidence: 99%

Output feedback control for an underactuated benchmark system with bounded torques

et al. 2020

Asian Journal of Control

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In this paper, we consider the stabilization of the translational oscillator with a rotational actuator (TORA) system. Existing control methods for the TORA system are developed on the basis of the assumptions that full state feedback is available, and the actuator can supply control torques with any bounded amplitudes or system parameters are exactly known. In order to relax these assumptions, an amplitude‐saturated output feedback controller is proposed for the TORA system. Compared with existing control methods, the proposed method exhibits four remarkable features: free of plant parameters, bounded amplitude, output feedback, and unwinding behavior prevention. Specifically, the passivity of the TORA system is analyzed first. Then, a constructive energy‐like function is introduced and a corresponding amplitude‐saturated output feedback control law for the TORA system is proposed on the basis of the constructed energy‐like function. Lyapunov‐based analysis and LaSalle's invariance principle are used to prove the boundedness and convergence of the closed‐loop signals. Finally, numerical simulations with comparisons to previous reported methods are implemented to demonstrate the superior performance of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Output feedback control for an underactuated benchmark system with bounded torques

et al. 2020

Asian Journal of Control

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“…16 In addition, fuzzy control, 17–19 linear parameter-varying (LPV) control 20 and so forth 21–25 are used to tackle the control issues of the TORA system. Recently, based on the TORA system, some systems that have more complicated structures are studied, such as 2DTORA system, 26,27 multi-TORA system. 28…”

Section: Introductionmentioning

confidence: 99%

Global sliding mode control for the underactuated translational oscillator with rotational actuator system

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article is motivated by the control issues of the translational oscillator with rotational actuator system in the existence of uncertain disturbances. A nonlinear disturbance observer and a global sliding mode control method are proposed for the disturbance estimation and stabilization of the translational oscillator with rotational actuator system. Compared with the existing control methods, uncertain disturbances are estimated by the proposed nonlinear disturbance observer. In addition, the sliding mode control method is continuous and global robustness with respect to disturbances. Specifically, to facilitate the controller design, the dynamics of the translational oscillator with rotational actuator system are rearranged as the cascade form first. Then, a virtual signal is constructed and corresponding error dynamics are derived. Subsequently, a nonlinear disturbance observer and a continuous global sliding mode control method are proposed for the disturbance rejection and stabilization of the translational oscillator with rotational actuator system. Finally, simulation results are provided to verify the effectiveness and robustness of the proposed controller.

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“…During the past decades, underactuated mechanical systems have been extensively applied owing to such advantages as less energy consumption, simple mechanical structure, strong flexibility, and so on. Therefore, considerable efforts have been made to address the control problem of underactuated mechanical systems (Aguilar-Iba´n˜ez et al, 2012;Gao et al, 2014;Hoang et al, 2014b;Kazi et al, 2008;Sarras et al, 2010;Uchiyama et al, 2013). As a typical underactuated mechanical system, bridge cranes are common industrial structures that are frequently implemented in manufacturing to transport heavy cargoes from one point to another.…”

Section: Introductionmentioning

confidence: 99%

Control of the bridge crane by constructing a Lyapunov function: theoretical design and experimental verification

2016

Transactions of the Institute of Measurement and Control

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For the control problem of bridge cranes, it is challenging to realize fast transportation and efficient swing suppression simultaneously. Motivated by this observation, in this paper, we aim to propose a nonlinear controller achieving these objectives by constructing a desired Lyapunov function. In particular, a constructive Lyapunov function is introduced in a segmented manner. Based on that, a nonlinear control method rendering the dissipation inequality with respect to the constructed Lyapunov function is proposed straightforwardly, which achieves precise trolley positioning along with efficient payload swing elimination. The corresponding stability and convergence analysis is guaranteed by Lyapunov techniques and LaSalle’s invariance principle. Simulation and experimental results are provided to demonstrate the effectiveness and feasibility of the proposed method.

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Passivity-based control of two-dimensional translational oscillator with rotational actuator

Cited by 20 publications

References 18 publications

Output feedback control for an underactuated benchmark system with bounded torques

Output feedback control for an underactuated benchmark system with bounded torques

Global sliding mode control for the underactuated translational oscillator with rotational actuator system

Control of the bridge crane by constructing a Lyapunov function: theoretical design and experimental verification

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