In this paper, we consider the control issues of the two-dimensional translational oscillator with rotational actuator (2DTORA) system, which has two translational carts and one rotational rotor. An output feedback controller for the 2DTORA system is proposed, which can prevent the unwinding behaviour. In addition, the velocity signal unavailability and actuator saturation are taken into account, simultaneously. In particular, the dynamics of the 2DTORA system are given first. On the basis of the passivity and control objectives of the 2DTORA system, an elaborate Lyapunov function is constructed. Then, based on the introduced Lyapunov function, a novel output feedback control method is proposed straightforwardly for the 2DTORA system. Lyapunov theory and LaSalle’s invariance principle are utilized to analyse the stability of the closed-loop system and the convergence of the states. Finally, simulation results are provided to illustrate the excellent control performance of the proposed controller in comparison with the existing method.

中文翻译：

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具有饱和输入的欠驱动 2DTORA 系统的基于能量的输出反馈控制

在本文中，我们考虑了带有旋转执行器的二维平移振荡器 (2DTORA) 系统的控制问题，该系统具有两个平移小车和一个旋转转子。提出了一种用于 2DTORA 系统的输出反馈控制器，它可以防止展开行为。此外，还同时考虑了速度信号不可用和执行器饱和。特别是首先给出了 2DTORA 系统的动力学。根据2DTORA系统的无源性和控制性目标，构造了一个精细的Lyapunov函数。然后，基于引入的Lyapunov函数，直接针对2DTORA系统提出了一种新颖的输出反馈控制方法。利用李雅普诺夫理论和拉萨尔不变性原理来分析闭环系统的稳定性和状态的收敛性。最后，提供了仿真结果来说明所提出的控制器与现有方法相比具有出色的控制性能。