Output Feedback Linearization-Adaptive Sliding Mode Control of TORA System

Translational Oscillator with a Rotational Actuator (TORA) system is known as a nonlinear benchmark with fourth-order dynamics. This system consists of an eccentric rotational proof-mass and a translational oscillator while they have nonlinear interactions together. This paper proposes an Output Feedback-Adaptive Sliding Mode Control (OFL-ASMC) for TORA as an underactuated system. The control law is constructed based on output feedback linearization and a sliding mode controller with an adaptive law. The most important characteristic of the proposed control scheme is its inherent robustness and ability to handle the nonlinear behavior of the system. The effectiveness of the designed control scheme for TORA system is verified by MATLAB/Simulink simulations.