%0 Journal Article
%T Dynamical Modeling and Energy-based Control Design for TORA<br>TORA的动力学建模及基于能量的控制设计
%A GAO Bing-Tuan
%A <br>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<br>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