Robust adaptive eccentricity compensation

Author

Santosuosso, G.L.

Author_Institution

Dipt. di Ingegneria Elettronica, Universita di Roma, Italy

Volume

4

fYear

2003

fDate

4-6 June 2003

Firstpage

3281

Abstract

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.

Keywords

adaptive control; input-output stability; robust control; tracking; adaptive disturbance compensation; adaptive eccentricity compensation; input-to-output stability; noise cancellation; oscillatory dependent disturbance; position dependent oscillation; robust rejection; rolling eccentricity model; time varying velocity; tracking error; trajectory tracking; Control systems; Damping; Frequency; Friction; Noise measurement; Proportional control; Robustness; Torque; Trajectory; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2003. Proceedings of the 2003

ISSN

0743-1619

Print_ISBN

0-7803-7896-2

Type

conf

DOI

10.1109/ACC.2003.1244037

Filename

1244037