Adaptive Sliding Mode Control of Inclined TORA System

The application of the translational oscillator with rotating actuator (TORA) system in engineering problems such as ship anti-rolling engineering etc., can be simplified as the control problem of TORA system when the base level is inclined. When the slope angle is unknown, time-varying and unmeasurable, the control of the system is challenged. In this paper, a global coordinate transformation is used to separate the uncertain parameter from the system, a nonlinear adaptive sliding mode control method is proposed for inclined TORA system based on the transformation, the stability of the system is proved by using Lyapunov techniques, the slope angle can be accurately identified by the designed adaptive law in real time. Simulation results verify the effectiveness and robustness of the proposed controller.