TY - GEN
T1 - PD control for global stabilization of an n-TORA system
AU - Xin, Xin
AU - Liu, Yannian
AU - Wu, Jinglong
N1 - Publisher Copyright:
© 2015 The Society of Instrument and Control Engineers-SICE.
PY - 2015/9/30
Y1 - 2015/9/30
N2 - 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.
AB - 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.
KW - Global stabilization
KW - Lyapunov stability theory
KW - PD control
KW - rotational actuator
KW - translational oscillator
UR - http://www.scopus.com/inward/record.url?scp=84960145418&partnerID=8YFLogxK
U2 - 10.1109/SICE.2015.7285477
DO - 10.1109/SICE.2015.7285477
M3 - Conference contribution
AN - SCOPUS:84960145418
T3 - 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
SP - 765
EP - 770
BT - 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
Y2 - 28 July 2015 through 30 July 2015
ER -