Boundary control of a two-dimensional flexible rotor (Q2755389)

The authors design two boundary controllers for a two-dimensional spinning flexible rotor system. Specifically, first the authors develop a model-based boundary controller which experimentally regulates the rotor displacement and controls the angular velocity tracking error; second, the authors develop an adaptive boundary controller which asymptotically achieves the same control objective by compensating for parametric uncertainty. As opposed to previous boundary controllers which focused on the velocity setpoint problem and placed restrictions on the magnitude of desired angular velocity setpoint, the proposed control architecture achieves the angular velocity tracking with no restrictions on the magnitude of desired velocity trajectory. Experimental results obtained on a flexible rotor illustrate the feasibility of the proposed control laws.