|Table of Contents|

Slidng mode control design for 2-dimensional translational oscillator with rotational actuator


Research Field:
Publishing date:


Slidng mode control design for 2-dimensional translational oscillator with rotational actuator
Bi Yuchun1Gao Bingtuan2Bao Yuqing2
1.School of Electrical and Information Engineering,Jiangsu University of Technology,Changzhou 213001,China; 2.School of Electrical Engineering,Southeast University,Nanjing 210096,China
2-dimensional translational oscillators with rotational actuators sliding mode control pole assignment
The translational oscillator with the rotational actuator(TORA)is consisted of a translational cart and a rotor,and it is a benchmark nonlinear system for the control design.The sliding mode control is designed for the 2-dimensional translational oscillator with a rotational actuator(2DTORA)system to expand the cart's motion of TORA system to 2-dimension.The system dynamics is linearized around an equilibrium,and the linearized model is transformed into the controllable form.A linear sliding mode surface including all state variables is designed.Based on exponential approach law,the control input is derived and then each state variable can be guaranteed to reach the expected value.The pole assignment method is employed to calculate the parameters of the sliding mode surface.To realize stable control of other equilibriums of 2DTORA,its dynamics is linearized at different equilibriums to get the T-S fuzzy model of the sliding mode surface.Consequently,the control input stabilizing different equilibriums is achieved.Simulation results show the feasibility and effectiveness of the proposed control design.


[1] Bupp R T,Bernstein D S,Coppola V T.A benchmark problem for nonlinear control design[J].International Journal of Robust and Nonlinear Control,1998,8(4):307-310.
[2]Jankovic M,Fontaine D,Kokotovic P V.TORA example:Cascade-and passivity-based control designs[J].IEEE Transactions on Control Systems Technology,1996,4(3):292-297.
[3]Tsiotras P,Corless M,Rotea M A.An L2 disturbance attenuation solution to the nonlinear benchmark problem[J].International Journal of Robust and Nonlinear Control,1998,8(4):311-330.
[4]Gao Bingtuan,Zhang Xiaohua,Chen Hongjun,et al.Energy-based control design of an underactuated 2-dimensional TORA system[A].The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Piscataway,USA:IEEE,2009:1296-1301.
Gao Bingtuan,Huang Xueliang.Nonlinear control design of underactuated 2DTORA based on partial feedback linearization[J].Journal of Southeast University(Natural Science Edition),2011,41(2):321-325.
Li Yan,Wang Zhongyuan,Yi Wenjun,et al.Electro mechanical actuator controller based on discrete sliding mode variable structure[J].Journal of Nanjing University of Science and Technology,2009,33(1):76-99.
Xie Zenghui,Liu Zhanchen,Li Wei.Design of new terminal guidance law of H variable structure[J].Journal of Nanjing University of Science and Technology,2011,35(5):632-636.
[8]Bao Yuqing,Li Junyuan,Xie Jiehua,et al.On hierarchical sliding mode control of underactuated TORA system[A].Proceedings of the 10th World Congress on Intelligent Control and Automation[C].Piscataway,USA:IEEE,2012:1785-1789.
Zheng Yan,Zhu Yuan,Jing Yuanwei.Sliding mode control for a class of underactuated mechanical system[J].Journal of Northeast University(Natural Science),2005,26(6):511-514.


Last Update: 2014-04-30