Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control Method Article Swipe
Qixuan Feng
,
Ancai Zhang
,
Xinghui Zhang
,
Guocheng Pang
,
Zhi Liu
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.3390/act11100271
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.3390/act11100271
A translational oscillator with a rotational actuator (TORA) is an underactuated nonlinear mechanical system with two degrees of freedom (DOF). This paper concerns the robust stabilization control problem for the system with multiple external disturbances. First, a disturbance observer is constructed based on the internal nonlinear dynamic behavior of the system. Second, a robust stabilization controller is designed by the estimated disturbances and the fixed-time sliding mode control method. The controller realizes the global robust stabilization control objective of the TORA system, and the stability of both disturbance observer and robust closed-loop control system are analyzed using the Lyapunov theorem. Finally, the effectiveness of the theoretical results are verified by numerical experiments.
Related Topics
Concepts
Control theory (sociology)
Underactuation
Nonlinear system
Sliding mode control
Controller (irrigation)
Observer (physics)
Lyapunov function
Actuator
Robust control
Disturbance (geology)
Computer science
Mathematics
Control (management)
Physics
Artificial intelligence
Paleontology
Biology
Quantum mechanics
Agronomy
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/act11100271
- https://www.mdpi.com/2076-0825/11/10/271/pdf?version=1664527953
- OA Status
- gold
- Cited By
- 2
- References
- 27
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4296849172
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4296849172Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.3390/act11100271Digital Object Identifier
- Title
-
Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control MethodWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2022Year of publication
- Publication date
-
2022-09-22Full publication date if available
- Authors
-
Qixuan Feng, Ancai Zhang, Xinghui Zhang, Guocheng Pang, Zhi LiuList of authors in order
- Landing page
-
https://doi.org/10.3390/act11100271Publisher landing page
- PDF URL
-
https://www.mdpi.com/2076-0825/11/10/271/pdf?version=1664527953Direct link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/2076-0825/11/10/271/pdf?version=1664527953Direct OA link when available
- Concepts
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Control theory (sociology), Underactuation, Nonlinear system, Sliding mode control, Controller (irrigation), Observer (physics), Lyapunov function, Actuator, Robust control, Disturbance (geology), Computer science, Mathematics, Control (management), Physics, Artificial intelligence, Paleontology, Biology, Quantum mechanics, AgronomyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2024: 1Per-year citation counts (last 5 years)
- References (count)
-
27Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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