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

In this paper, we consider the robust stabilization control problem of underactuated translational oscillator with a rotating actuator (TORA) system in presence unknown matched disturbances by employing continuous inputs. A nonlinear approach is proposed integrating techniques backstepping and linear extended state observer (LESO). Specifically, based on design methodology, hyperbolic tangent virtual law designed for first subsystem cascaded TORA model, via which an integral chain error subsequently constructed well-known LESO technique easy to implement. Then, LEO estimate lumped real-time, influence compensated augmenting feedback controller disturbance estimation. The convergence stability entire are rigorously proved utilizing Lyapunov theory LaSalle’s invariance principle. Unlike some existing methods, capable generating inputs, guarantee that both rotation translation systems stabilized at origin simultaneously smoothly, attenuating disturbances. Comparative simulation results presented demonstrate effectiveness superior performance method.