TORA System Control and Tracking Strategy Design

Aiming at the translational oscillators with rotating actuator (TORA), a method is proposed to keep the system balance in any set equilibrium point by designing a control strategy with control parameters. Based on this, the tracking strategy for angle displacement is realized. The energy function is divided into two parts by the proposed method. The equilibrium point becomes an extreme point of the new generalized energy function by inducting control factors to amend the energy function. In addition, a suitable Lyapunov function can be constructed based on this amended energy function. At last, a control law is designed to satisfy the equilibrium point stability. The dynamic performance is compared among the proposed method, traditional energy function method and the sliding mode control system by simulation, and the results show the proposed method is superior to others.