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

Volume

1

fYear

2003

fDate

4-6 June 2003

Firstpage

483

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;

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.2003.1239057

Filename

1239057