中文摘要：

通过设计具有控制参数的控制策略,针对具有旋转激励的平移振荡器系统（TORA）得出了能使系统平衡在任意设定的平衡点的方法,实现了角位移的跟踪策略.该方法将系统的能量函数分解为两个部分,通过引入控制因子修改能量函数使平衡点成为新构造的广义能量函数的极值点,并得到基于该修正能量函数的合适李亚普诺夫函数.最后,设计了满足平衡点稳定性的控制律.通过仿真,将此法与传统能量函数法以及采用滑模的控制系统进行动态性能比较,证明了此法的优越性.

英文摘要：

Aiming at the translational oscillators with rotating actuator（TORA）,a method is proposed to keep the system balance in any set equilibrium point by designing a control strategy with control parameters.Based on this,the tracking strategy for angle displacement is realized.The energy function is divided into two parts by the proposed method.The equilibrium point becomes an extreme point of the new generalized energy function by inducting control factors to amend the energy function.In addition,a suitable Lyapunov function can be constructed based on this amended energy function.At last,a control law is designed to satisfy the equilibrium point stability.The dynamic performance is compared among the proposed method,traditional energy function method and the sliding mode control system by simulation,and the results show the proposed method is superior to others.