# [1]高丙团,黄学良.欠驱动2DTORA基于部分反馈线性化的非线性控制设计[J].东南大学学报(自然科学版),2011,41(2):321-325.[doi:10.3969/j.issn.1001-0505.2011.02.021] 　Gao Bingtuan,Huang Xuelinag.Nonlinear control design of underactuated 2DTORA based on partial feedback linearization[J].Journal of Southeast University (Natural Science Edition),2011,41(2):321-325.[doi:10.3969/j.issn.1001-0505.2011.02.021] 点击复制 欠驱动2DTORA基于部分反馈线性化的非线性控制设计() 分享到： var jiathis_config = { data_track_clickback: true };

41

2011年第2期

321-325

2011-03-20

## 文章信息/Info

Title:
Nonlinear control design of underactuated 2DTORA based on partial feedback linearization

(东南大学电气工程学院,南京 210096)
Author(s):
(School of Electrical Engineering, Southeast University, Nanjing 210096, China)

Keywords:

TP273
DOI:
10.3969/j.issn.1001-0505.2011.02.021

Abstract:
The 2-dimensional translational oscillators with rotating actuator (2DTORA) is a noval underactuated system composed of one actuated rotor and two unactuated translational carts. The mathematical model of 2DTORA is analyzed and a stabilization control method is presented. The analysis of the system’s dynamics shows that the system is uncontrollable when desired angular position of the rotor are set to the angles aligned to the two translational directions of the carts. By using partial feedback linearization technique, the active degree corresponding to the configuration freedoms of 2DTORA is linearized, while the passive degrees are taken as the internal dynamics of the system. A state feedback controller of the linearized subsystem was designed by choosing the active rotor angle as the system output. It is proved that the stability of the whole controlled system is guaranteed by the stability of the zero dynamics. Finally, simulation results demonstrate the feasibility of the presented controller.

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