Dynamical Modeling and Energy-based Control Design for TORA

A state feedback controller is designed for an un- deractuated TORA(translational oscillators with rotating actu- ator).Based on Lagrange equations,the dynamics of TORA is derived.The total energy of the system is employed to show the passivity property of TORA,and then a proper Lyapunov function including energy item is designed.Based on Lyapunov theory,a state feedback control algorithm is achieved.The sta- bility of the control system is based on LaSalle invariance the- orem.Finally,simulation results demonstrate the feasibility of the presented controller.