Nonlinear control of the air spindle testbed with constraints
Sampei, M.; Shen, J.; McClamroch, N.H.
American Control Conference, 2003. Proceedings of the 2003
Volume 1, Issue , 4-6 June 2003 Page(s): 483 - 488 vol.1
Digital Object Identifier   10.1109/ACC.2003.1239057
Summary: In this paper we design nonlinear feedback controllers for the air spindle testbed, a multibody attitude testbed consisting of a freely rotating platform and two proof mass actuators. We take into account stroke limits and velocity limits of the proof mass actuators. Two control methods are proposed: one is based on a time-state strategy; the other is based on a hybrid scheme. Detailed design procedures are given; simulations demonstrate the effectiveness of the controllers for this constrained stabilization problem.

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