A Model-Free Output Feedback Control Approach for the Stabilization of Underactuated TORA System with Input Saturation

The horizontal translational oscillator with a rotational actuator (TORA) is typical underactuated mechanical system, whose control problem still open and theoretically challenging. At present, the existing methods are structurally complicated require an exact knowledge of system parameters. Moreover, few works have considered output feedback stabilization TORA subject to practical constraints input saturation angular velocity unmeasurement. To address these problems, this paper proposes novel model-free amplitude-limited approach stabilize at origin using only angle feedback. Firstly, passivity analyzed, based on which Lyapunov function augmented auxiliary signal constructed by taking into account. Then, law derived in straightforward manner. In order make independent feedback, designed terms ball dynamic system. asymptotic stability entire rigorously guaranteed utilizing theory LaSalle’s invariance principle. Finally, simulation results comparisons demonstrate effectiveness superiority proposed approach.