Control of speed of a hand-held electrical nutrunner system using adaptive disturbance compensator

This work develops an Adaptive Disturbance Compensation (ADC) control scheme for hand-held electrical nutrunner system. ADC deals the adverse effects of external disturbance and modeling uncertainty that are commonly associated with the electrical nutrunner that is powered by a servomechanism. ADC adaptively adjusts the compensator gains in real time, so that the output of the actual system following compensation faithfully follows the output of the reference model. Finally, to verify the effectiveness of the ADC control scheme, two speed tracking experiments were performed on hand-held electrical nutrunner system. The experimental results reveal that the proposed scheme performs satisfactorily.