Title :
Nonlinear control of the air spindle testbed with constraints
Author :
Sampei, Mitsuji ; Shen, Jinglai ; McClamroch, N. Harris
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Japan
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.
Keywords :
actuators; control system synthesis; controllers; machine tool spindles; motion control; nonlinear control systems; stability; state feedback; velocity control; air spindle testbed; control methods; freely rotating platform; hybrid scheme; multibody attitude testbed; nonlinear control; nonlinear feedback controllers; proof mass actuators; stabilization problem; stroke limits; time state strategy; velocity limits; Actuators; Aerospace testing; Attitude control; Control engineering; Control systems; Motion control; Nonlinear control systems; Nonlinear equations; Velocity control; Weight control;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1239057
