%0 Journal Article %T Dynamical Modeling and Energy-based Control Design for TORA
TORA的动力学建模及基于能量的控制设计 %A GAO Bing-Tuan %A
高丙团 %J 自动化学报 %D 2008 %I %X A state feedback controller is designed for an un- deractuated TORA(translational oscillators with rotating actu- ator).Based on Lagrange equations,the dynamics of TORA is derived.The total energy of the system is employed to show the passivity property of TORA,and then a proper Lyapunov function including energy item is designed.Based on Lyapunov theory,a state feedback control algorithm is achieved.The sta- bility of the control system is based on LaSalle invariance the- orem.Finally,simulation results demonstrate the feasibility of the presented controller. %K Energy-based control design %K TORA %K underactuated %K Lyapunov function %K passivity
基于能量的控制设计 %K TORA %K 欠驱动 %K 李亚普诺夫函数 %K 无源性 %U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=15F3D338C9EF8A1C98EB7E1E55DE311B&yid=67289AFF6305E306&vid=339D79302DF62549&iid=9CF7A0430CBB2DFD&sid=EC37857E7CB2811A&eid=3819B8B7C1B72552&journal_id=0254-4156&journal_name=自动化学报&referenced_num=1&reference_num=10