PD control for global stabilization of an n-TORA system

Xin Xin, Yannian Liu, Jinglong Wu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper concerns a global stabilization problem for an n-TORA (Translational Oscillator with a Rotational Actuator) system which consists of n carts connected to the fixed walls and each other by n + 1 linear springs with each cart having an eccentric rotational proof-mass actuator moving in the horizontal plane. First, this paper derives the motion equation of the n-TORA system. Then, by using Lyapunov stability theory and physical properties of mechanical parameters of the n-TORA system, this paper proves that the global stabilization of the n-TORA system can be achieved by the PD control of the angle of the rotational proof-mass of each TORA. This paper presents numerical simulation results for the 2- and 3-TORA systems to validate the result of the global stabilization.

Original languageEnglish
Title of host publication2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages765-770
Number of pages6
ISBN (Print)9784907764487
DOIs
Publication statusPublished - Sep 30 2015
Event54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China
Duration: Jul 28 2015Jul 30 2015

Other

Other54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
CountryChina
CityHangzhou
Period7/28/157/30/15

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Keywords

  • Global stabilization
  • Lyapunov stability theory
  • PD control
  • rotational actuator
  • translational oscillator

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Xin, X., Liu, Y., & Wu, J. (2015). PD control for global stabilization of an n-TORA system. In 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 (pp. 765-770). [7285477] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2015.7285477