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论文类型：会议论文

发表时间：2015-05-23

收录刊物：EI、CPCI-S、Scopus

页面范围：6107-6110

关键字：TORA; underactuated systems; sliding mode control; stability control; structure vibration control

摘要：The sliding mode controller is designed to realize the stability control of TORA (Translational oscillators with rotating actuator) system. Using the Lagrange equations, the modeling of underactuated TORA system is accomplished. Based on this model, stability controller of TORA is designed with the sliding mode control method. Through making an analogy with the AMD (Active Mass Damper) structure vibration control system in civil engineering, the Elcentro earthquake wave is introduced into the dynamics of TORA as an environmental disturbance. Then, computer simulation results prove the validity and robustness of the sliding mode control algorithm.