Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems

[摘要] Rotational translational actuator (RTAC) system, whose motions occur inhorizontal planes, is a benchmark for studying of control techniques. This paper presentsdynamical analysis and stabilizing control design for the RTAC system on a slope. Basedon Lagrange equations, dynamics of the inclined RTAC system is achieved by selecting cartposition and rotor angle as the general coordinates and torque acting on the rotor as generalforce. 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 systemenergy, 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 ourdynamical analysis and control design.

[学科分类] 应用数学