TORA stabilization via dynamic surface control technique

This paper considers the stabilization problem of translational oscillator with rotational actuator (TORA), a widely studied nonlinear mechanical system. TORA models resonance capture phenomenon observed in dual-spin spacecraft and rotating machinery. The design of control law for TORA is challenging because of its underactuated nature, posing problems in exact feedback linearization. A novel nonlinear controller design for TORA is presented: exploiting recently introduced dynamic surface control. The design procedure is simpler and more intuitive than already presented designs. Stability of the controller end advantages over existing backstepping controllers are analyzed theoretically and verified using numerical simulations.