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The two-dimensional translational oscillator with rotational actuator (2D TORA) system is consist of an actuated eccentric ball and two unactuated translational platforms. As an extension of TORA system, the 2D TORA system is more general, which can be used to deal with translation vibrations. In this work, we present an adaptive control method for the 2D TORA system to tackle the parameter uncertainty problem. Proper estimations with effective adaptive update laws are introduced into the controller, which are proved to be effective. The objective of accurate positioning for the rotational ball is also achieved. Rigorous closed-loop stability analysis is provided by using Lyapunov stability theory. Also, simulation figure shows the satisfactory performance of the method.

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Vibration Suppression Control for 2D TORA System With Parametric Uncertainties

  • 会议论文

  • 发表日期：

    2025年

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  • Xinran Yang,
  • He Chen

摘要

The two-dimensional translational oscillator with rotational actuator (2D TORA) system is consist of an actuated eccentric ball and two unactuated translational platforms. As an extension of TORA system, the 2D TORA system is more general, which can be used to deal with translation vibrations. In this work, we present an adaptive control method for the 2D TORA system to tackle the parameter uncertainty problem. Proper estimations with effective adaptive update laws are introduced into the controller, which are proved to be effective. The objective of accurate positioning for the rotational ball is also achieved. Rigorous closed-loop stability analysis is provided by using Lyapunov stability theory. Also, simulation figure shows the satisfactory performance of the method.