Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs. (October 2020)

• Record Type: Journal Article
• Authors: Xu, Kexin; Wu, Xianqing; Ma, Miao; Zhang, Yibo
• Is Part Of: Transactions of the Institute of Measurement and Control. Volume 42:Number 14(2020)
• Page Start: 2822
• Page End: 2829
• Publication Date: 2020-10
• Subjects: Underactuated system -- saturation constraint -- output feedback -- unwinding behaviour; Automatic control -- Periodicals; Measuring instruments -- Periodicals; Commande automatique -- Périodiques; Mesure -- Instruments -- Périodiques; 681.2
• DOI: 10.1177/0142331220933475
• Languages: English
• ISSNs: 0142-3312

Abstract

In this paper, we consider the control issues of the two-dimensional translational oscillator with rotational actuator (2DTORA) system, which has two translational carts and one rotational rotor. An output feedback controller for the 2DTORA system is proposed, which can prevent the unwinding behaviour. In addition, the velocity signal unavailability and actuator saturation are taken into account, simultaneously. In particular, the dynamics of the 2DTORA system are given first. On the basis of the passivity and control objectives of the 2DTORA system, an elaborate Lyapunov function is constructed. Then, based on the introduced Lyapunov function, a novel output feedback control method is proposed straightforwardly for the 2DTORA system. Lyapunov theory and LaSalle's invariance principle are utilized to analyse the stability of the closed-loop system and the convergence of the states. Finally, simulation results are provided to illustrate the excellent control performance of the proposed controller in comparison with the existing method.