Adaptive force balancing of an unbalanced rotor

Abstract

A planar rotor is asymptotically stabilized using an adaptive feedback control law that does not require knowledge of the location of the center of mass of the rotor. A Lyapunov-based proof is used to show that asymptotic stabilization is achieved. Numerical examples illustrate the ability of the control algorithm to achieve asymptotic stabilization for various cases including changing center of mass and rotor speed.