Taking uncertain disturbances into account, the control problem of the translational oscillator with a rotational actuator (TORA) is considered in this paper. Motivated by the desire to attenuate influences from unknown disturbances/uncertainties, the disturbance-observer-based methodology is utilized. Specifically, a system model with a cascade structure for the TORA system is obtained after a series of coordinate transformations. Then, inspired by the backstepping control technique, for the first subsystem, a virtual control variable is introduced and an error-signal-based system is designed. Next, an estimator is presented and used to estimate unknown disturbances, based upon which a sliding mode control approach is devised to ensure the underactuated TORA system is asymptotically stable at the origin. Finally, the applicability and robustness of the designed control method are examined via three group numerical simulation tests.

考虑到不确定的干扰，本文考虑了带有旋转执行器（TORA）的平移振荡器的控制问题。由于希望衰减来自未知干扰/不确定性的影响，因此采用了基于干扰观察者的方法。具体地，在一系列坐标变换之后获得具有用于TORA系统的级联结构的系统模型。然后，在反步控制技术的启发下，针对第一个子系统，引入了一个虚拟控制变量，并设计了一个基于错误信号的系统。接下来，提出了一个估计器并将其用于估计未知干扰，在此基础上，设计了一种滑模控制方法以确保欠驱动的TORA系统在原点处渐近稳定。最后，