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Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control Method

by Zhang, Ancai , Pang, Guocheng , Liu, Zhi , Feng, Qixuan , Zhang, Xinghui

in Actuators / Control equipment / Control methods / Control systems / Control systems design / Control theory / Controllers / Coordinate transformations / Degrees of freedom / Design techniques / disturbance observer / Disturbance observers / Dynamical systems / Feedback control / fixed-time sliding mode / Mechanical systems / Methods / Motion control / Nonlinear dynamics / Robust control / Robust stabilization / robust stabilization control / Sliding mode control / Stability analysis / underactuated TORA systems

2022

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Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control Method

by Zhang, Ancai , Pang, Guocheng , Liu, Zhi , Feng, Qixuan , Zhang, Xinghui

2022

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Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control Method

by Zhang, Ancai , Pang, Guocheng , Liu, Zhi , Feng, Qixuan , Zhang, Xinghui

2022

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Journal Article

Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control Method

Zhang, Ancai,

Pang, Guocheng,

Liu, Zhi,

Feng, Qixuan,

Zhang, Xinghui

2022

Overview

A translational oscillator with a rotational actuator (TORA) is an underactuated nonlinear mechanical system with two degrees of freedom (DOF). This paper concerns the robust stabilization control problem for the system with multiple external disturbances. First, a disturbance observer is constructed based on the internal nonlinear dynamic behavior of the system. Second, a robust stabilization controller is designed by the estimated disturbances and the fixed-time sliding mode control method. The controller realizes the global robust stabilization control objective of the TORA system, and the stability of both disturbance observer and robust closed-loop control system are analyzed using the Lyapunov theorem. Finally, the effectiveness of the theoretical results are verified by numerical experiments.

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Publisher

MDPI AG

Subject

/ Control systems design

/ Control theory

/ Controllers