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LESO-Based Nonlinear Continuous Robust Stabilization Control of Underactuated TORA Systems
 
 

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Communication

Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control Method

1
School of Automation and Electrical Engineering, Linyi University, Linyi 276000, China
2
Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong, Linyi 276000, China
*
Author to whom correspondence should be addressed.
Academic Editor: Ioan Ursu
Actuators 2022, 11(10), 271; https://doi.org/10.3390/act11100271
Received: 27 August 2022 / Revised: 18 September 2022 / Accepted: 20 September 2022 / Published: 22 September 2022
(This article belongs to the Special Issue Advance Control Research for Underactuated Robot Systems)
A translational oscillator with a rotational actuator (TORA) is an underactuated nonlinear mechanical system with two degrees of freedom (DOF). This paper concerns the robust stabilization control problem for the system with multiple external disturbances. First, a disturbance observer is constructed based on the internal nonlinear dynamic behavior of the system. Second, a robust stabilization controller is designed by the estimated disturbances and the fixed-time sliding mode control method. The controller realizes the global robust stabilization control objective of the TORA system, and the stability of both disturbance observer and robust closed-loop control system are analyzed using the Lyapunov theorem. Finally, the effectiveness of the theoretical results are verified by numerical experiments.
Keywords: underactuated TORA systems; disturbance observer; fixed-time sliding mode; robust stabilization control underactuated TORA systems; disturbance observer; fixed-time sliding mode; robust stabilization control
MDPI and ACS Style

Feng, Q.; Zhang, A.; Zhang, X.; Pang, G.; Liu, Z. Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control Method. Actuators 2022, 11, 271. https://doi.org/10.3390/act11100271

AMA Style

Feng Q, Zhang A, Zhang X, Pang G, Liu Z. Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control Method. Actuators. 2022; 11(10):271. https://doi.org/10.3390/act11100271

Chicago/Turabian Style

Feng, Qixuan, Ancai Zhang, Xinghui Zhang, Guocheng Pang, and Zhi Liu. 2022. "Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control Method" Actuators 11, no. 10: 271. https://doi.org/10.3390/act11100271

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