Nonlinear control of the air spindle testbed with constraints
Sampei, M.
Shen, J.
McClamroch, N.H.
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Japan;
This paper appears in: American Control Conference, 2003. Proceedings of the 2003
Publication Date: 4-6 June 2003
Volume: 1,
On page(s): 483- 488 vol.1
ISSN: 0743-1619
ISBN: 0-7803-7896-2
INSPEC Accession Number: 7823086
Digital Object Identifier: 10.1109/ACC.2003.1239057
Current Version Published: 2003-10-27
Abstract
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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