Boundary control of a two-dimensional flexible rotor

In this paper, we present the design of boundary controllers for a two-dime nsional, spinning flexible rotor system. Specifically, we develop a model-b ased boundary controller which exponentially regulates the rotor's displace ment and the angular velocity tracking error, and an adaptive boundary cont roller which asymptotically achieves the same control objective while compe nsating for parametric uncertainty. As opposed to previous boundary control work, which focused on the velocity setpoint problem and placed restrictio ns on the magnitude of the desired angular velocity setpoint, the proposed control architecture achieves angular velocity tracking with no restriction s on the magnitude of the desired velocity trajectory. Experimental results conducted on a flexible rotor tested are presented to illustrate the feasi bility of implementing the proposed boundary control laws. Copyright (C) 20 01 John Wiley & Sons, Ltd.