In this paper, we consider the stabilization of the translational oscillator with a rotational actuator (TORA) system. Existing control methods for the TORA system are developed on the basis of the assumptions that full state feedback is available, and the actuator can supply control torques with any bounded amplitudes or system parameters are exactly known. In order to relax these assumptions, an amplitude-saturated output feedback controller is proposed for the TORA system. Compared with existing control methods, the proposed method exhibits four remarkable features: free of plant parameters, bounded amplitude, output feedback, and unwinding behavior prevention. Specifically, the passivity of the TORA system is analyzed first. Then, a constructive energy-like function is introduced and a corresponding amplitude-saturated output feedback control law for the TORA system is proposed on the basis of the constructed energy-like function. Lyapunov-based analysis and LaSalle's invariance principle are used to prove the boundedness and convergence of the closed-loop signals. Finally, numerical simulations with comparisons to previous reported methods are implemented to demonstrate the superior performance of the proposed method.

中文翻译：

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转矩有界欠驱动基准系统的输出反馈控制

在本文中，我们考虑了具有旋转致动器 (TORA) 系统的平移振荡器的稳定性。TORA 系统的现有控制方法是在全状态反馈可用的假设基础上开发的，并且执行器可以提供具有任何有界幅度或系统参数精确已知的控制转矩。为了放宽这些假设，为TORA 系统提出了幅度饱和输出反馈控制器。与现有控制方法相比，所提出的方法具有四个显着特点：不受设备参数限制、幅度有界、输出反馈和解绕行为预防。具体来说，首先分析TORA系统的无源性。然后，在构造的类能量函数的基础上，引入了一个建设性的类能量函数，并提出了相应的TORA系统幅值饱和输出反馈控制律。基于李雅普诺夫的分析和拉萨尔不变性原理被用来证明闭环信号的有界性和收敛性。最后，通过与先前报告的方法进行比较的数值模拟来证明所提出方法的优越性能。