Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems
Rotational translational actuator (RTAC) system, whose motions occur in horizontal planes, is a benchmark for studying of control techniques. This paper presents dynamical analysis and stabilizing control design for the RTAC system on a slope. Based on Lagrange equations, dynamics of the inclined RT...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2014/598384 |
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| Summary: | Rotational translational actuator (RTAC) system, whose motions occur in
horizontal planes, is a benchmark for studying of control techniques. This paper presents
dynamical analysis and stabilizing control design for the RTAC system on a slope. Based
on Lagrange equations, dynamics of the inclined RTAC system is achieved by selecting cart
position and rotor angle as the general coordinates and torque acting on the rotor as general
force. The analysis of equilibriums and their controllability yields that controllability of equilibriums depends on inclining direction of the inclined RTAC system. To stabilize the system to its controllable equilibriums, a proper control Lyapunov function including system
energy, which is used to show the passivity property of the system, is designed. Consequently,
a stabilizing controller is achieved directly based on the second Lyapunov stability theorem.
Finally, numerical simulations are performed to verify the correctness and feasibility of our
dynamical analysis and control design. |
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| ISSN: | 1110-757X 1687-0042 |