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2014 Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems
Bingtuan Gao, Fei Ye
J. Appl. Math. 2014: 1-9 (2014). DOI: 10.1155/2014/598384


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.


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Bingtuan Gao. Fei Ye. "Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems." J. Appl. Math. 2014 1 - 9, 2014.


Published: 2014
First available in Project Euclid: 2 March 2015

zbMATH: 07131722
Digital Object Identifier: 10.1155/2014/598384

Rights: Copyright © 2014 Hindawi


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