Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control Method
نویسندگان
چکیده
A translational oscillator with a rotational actuator (TORA) is an underactuated nonlinear mechanical system two degrees of freedom (DOF). This paper concerns the robust stabilization control problem for multiple external disturbances. First, disturbance observer constructed based on internal dynamic behavior system. Second, controller designed by estimated disturbances and fixed-time sliding mode method. The realizes global objective TORA system, stability both closed-loop are analyzed using Lyapunov theorem. Finally, effectiveness theoretical results verified numerical experiments.
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ژورنال
عنوان ژورنال: Actuators
سال: 2022
ISSN: ['2076-0825']
DOI: https://doi.org/10.3390/act11100271