中文摘要：

针对欠驱动TORA系统,设计一种镇定控制器和增强型耦合控制器.根据TORA系统的动力学模型,分析旋转小球与平移振荡器之间的耦合关系和系统的无源特性.构造一个新型的Lyapunov函数,并得到一种耦合镇定控制器.采用Lyapunov方法和LaSalle不变性原理证明了闭环系统的稳定性.最后,通过改进所设计的控制器得到一种增强型耦合控制器.仿真结果验证了所提出控制器的有效性和优越性.

英文摘要：

A stabilization control method and an enhanced coupling control method are proposed for the translation oscillators with a rotating actuator（TORA） system. Based on the dynamic model of TORA systems, the coupling relation between the eccentric rotational proof mass and the translational oscillator is analyzed, and the passivity of the TORA system is analyzed as well. Then, an energy storage function is constructed and a coupling control method is proposed. The stability of the closed-loop system is proven by using Lyapunov techniques and LaSalle’s invariance theorem, and an improved coupling control method is proposed by modifying the designed method. Simulation results show the effectiveness and superior performance of the proposed methods.