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Date of Publication:2022-10-10

Journal:控制与决策

Volume:33

Issue:8

Page Number:1415-1421

ISSN No.:1001-0920

Abstract:A nonsingular control scheme is proposed for the stabilization of the translational oslillator with rotating actuator(TORA) system based on maximal feedback linearization. The mathematical model of the nonlinear TORA system is derived through using the Lagrange equations. The dummy output with the largest relative degree is obtained with the differential algebra approach. Based on this dummy output, the differential dynamics of TORA system can be transformed into a third-order linear system with stable internal dynamics, and a controller is developed via the pole assignment technique for this linear system. To conquer the singularity problem, the gradient dynamics method is adopted to regulate the control law. Numerical simulations are conducted to demonstrate the effectiveness of the proposed scheme and the correctness of the theoretical analysis. © 2018, Editorial Office of Control and Decision. All right reserved.

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