Abstract:A bounded input control method based on biologically inspired model is proposed for the underactuated horizontal translational oscillators with rotating actuator (TORA) system to realize the stabilization control of the system with actuator saturation constraints. Firstly, the passivity property is analyzed based on the dynamics of the TORA system, and the control objective of the system is given. Next, a novel passivity-based Lyapunov function is constructed, and a simple nonlinear state feedback controller is designed straightforwardly. Then, considering the actuator saturation constraints, a biologically inspired neural dynamic model is introduced, and an improved state feedback controller is designed by using the bounded smooth output characteristics of the neural dynamics. Finally, the stability of the control system is strictly analyzed and provedand by LaSalle invariance principle. Compared with other methods, the proposed method not only takes the actuator saturation constraint into account., but also provides a simple but efficient control algorithm, which is easy to implement in engineering. Simulation and comparison results show that the proposed method has better control performance.