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 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.