Virtual Constraints Based Control Design of an Inclined Translational Oscillator with Rotational Actuator System

Abstract EN

Translational oscillator with rotational actuator (TORA) system, whose translational androtational movements occur in horizontal planes, is a benchmark of underactuated mechanicalsystems for studying of control techniques.

Currently, the research work of the benchmarkmainly focuses on stabilizing control of equilibrium points of the dynamical system.

Theproblem of steering TORA to arbitrary points in its state space is rarely studied.

In thispaper, the movements of the TORA system are extended to inclined planes and dynamics ofthe inclined TORA system is presented firstly.

Following that, a trajectory tracking controlmethod based on virtual constraints is proposed to steer the oscillations of the inclined TORAsystem.

A virtual constraints based method is presented to generate periodic trajectories whichpass through desired point; and a Lyapunov based control design is proposed to track thegenerated trajectories.

Finally, the performance and feasibility of the proposed control designmethodology are illustrated and analyzed according to numerical simulations.