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Shock and Vibration
Translational oscillator with rotational actuator (TORA) system, whose translational and rotational movements occur in horizontal planes, is a benchmark of underactuated mechanical systems for studying of control techniques. Currently, the research work of the benchmark mainly focuses on stabilizing control of equilibrium points of the dynamical system. The problem of steering TORA to arbitrary points in its state space is rarely studied. In this paper, the movements of the TORA system aredoi:10.1155/2015/769151 fatcat:fmslxhc2dzhzdoxedxo6nc4fba