| This Paper:Browse 82 Download 0 |
码上扫一扫！ |
| Boundary control of an uncertain rotating body-beam system with tip mass and input backlash |
| FuzhuangHan1,MingliCui1,YangYu1,Hai-LongPei2 |
|
|
| (School of Automation, Qingdao University, Qingdao 266071, Shandong, China;School of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, Guangdong, China) |
|
| 摘要: |
| In this paper, we study the issue of controlling a rotating flexible body-beam system (RFBBS) which consists of a tip mass attached to the free-end and a rigid disk attached to the clamped-end of an Euler–Bernoulli beam. The boundary control input is affected by both unknown disturbance and nonlinear input backlash. First, the input backlash is considered as desired control input combined with a nonlinear input error, converting it to an external disturbance, and then, the control signal is designed through the energy-based control method. Next, the closed-loop system’s stability is analysed through Lyapunov direct method. Finally, the efficacy of the proposed control scheme is tested through numerical simulations utilizing the finite difference method. |
| 关键词: Rotating body-beam · Boundary control · Input backlash · Lyapunov direct method · Unknown disturbance |
| DOI：https://doi.org/10.1007/s11768-025-00274-6 |
|
| 基金项目:This work was supported in part by the National Natural Science Fundation of China under Grant Nos. 62403263 and 62373207, in part by the Natural Science Fundation of Qingdao, China under Grant No. 24-4-4-zrjj-88-jch, in part by the Team Plan for Youth Innovation of Universities in Shandong Province under Grant No. 2024KJH148, and in part by the Foundation of Key Laboratory of Autonomous Systems and Networked Control (South China University of Technology), Ministry of Education under Grant No. 2024A01. |
|
| Boundary control of an uncertain rotating body-beam system with tip mass and input backlash |
| Fuzhuang Han1,Mingli Cui1,Yang Yu1,Hai-Long Pei2 |
| (School of Automation, Qingdao University, Qingdao 266071, Shandong, China;School of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, Guangdong, China) |
| Abstract: |
| In this paper, we study the issue of controlling a rotating flexible body-beam system (RFBBS) which consists of a tip mass attached to the free-end and a rigid disk attached to the clamped-end of an Euler–Bernoulli beam. The boundary control input is affected by both unknown disturbance and nonlinear input backlash. First, the input backlash is considered as desired control input combined with a nonlinear input error, converting it to an external disturbance, and then, the control signal is designed through the energy-based control method. Next, the closed-loop system’s stability is analysed through Lyapunov direct method. Finally, the efficacy of the proposed control scheme is tested through numerical simulations utilizing the finite difference method. |
| Key words: Rotating body-beam · Boundary control · Input backlash · Lyapunov direct method · Unknown disturbance |
