Autobalancing DCAL controller for a rotating unbalanced disk

Author

Costic, B.T. ; Nagarkatti, S.P. ; Dawson, D.M. ; de Queiroz, M.S.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

3

fYear

2000

fDate

2000

Firstpage

2092

Abstract

We design a control strategy for a rotating unbalanced disk. The control strategy is composed of a control torque and two control forces. The control strategy regulates disk displacement while ensuring that the unbalanced disk tracks a desired angular velocity trajectory. Specifically the control uses a desired compensation adaptation law (DCAL) and a gain adjusted forgetting factor to achieve exponential stability despite the lack of knowledge of the imbalance-related parameters provided a mild persistency of excitation condition is satisfied

Keywords

adaptive control; angular velocity control; asymptotic stability; compensation; control system synthesis; displacement control; angular velocity trajectory; autobalancing desired compensation adaptation law; control strategy; control torque; exponential stability; gain adjusted forgetting factor; mild persistency of excitation condition; rotating unbalanced disk; Adaptive control; Angular velocity; Angular velocity control; Automatic control; Control systems; Degradation; Force control; Torque control; Trajectory; Vibrations;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2000. Proceedings of the 2000

Conference_Location

Chicago, IL

ISSN

0743-1619

Print_ISBN

0-7803-5519-9

Type

conf

DOI

10.1109/ACC.2000.879570

Filename

879570