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Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems
Joint Authors
Source
Journal of Applied Mathematics
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-07-03
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Gao, Bingtuan& Ye, Fei. 2014. Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems. Journal of Applied Mathematics،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-484002
Modern Language Association (MLA)
Gao, Bingtuan& Ye, Fei. Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems. Journal of Applied Mathematics No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-484002
American Medical Association (AMA)
Gao, Bingtuan& Ye, Fei. Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems. Journal of Applied Mathematics. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-484002
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-484002