Robust adaptive eccentricity compensation

In this paper, the problem of robust rejection of oscillatory dependent disturbances is addressed with unknown frequency and unknown amplitude. Previous trajectory tracking results for a rolling eccentricity model with position dependent oscillation are improved in the special case of the regulation...

Full description

Saved in:
Bibliographic Details
Published in2003 American Control Conference; Denver, CO; USA; 4-6 June 2003 Vol. 4; pp. 3281 - 3286 vol.4
Main Author Santosuosso, G.L.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Control systems
Damping
Frequency
Friction
Noise measurement
Proportional control
Robustness
Torque
Trajectory
Velocity control
Online AccessGet full text

Cover

More Information
Summary:In this paper, the problem of robust rejection of oscillatory dependent disturbances is addressed with unknown frequency and unknown amplitude. Previous trajectory tracking results for a rolling eccentricity model with position dependent oscillation are improved in the special case of the regulation of a desired constant velocity. In fact it is shown that the robustness of the proposed control strategy with respect to realistic measurement errors, by applying a recent result, and the control algorithm is adaptive with respect to all system parameters, except inertia. As a drawback, it cannot be guaranteed exact tracking of time varying velocities, but rather robustness of tracking errors.
Bibliography:SourceType-Conference Papers & Proceedings-1
ObjectType-Conference Paper-1
content type line 25
ISBN:9780780378964
0780378962
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2003.1244037