|Robust Adaptive Boundary Control of a Perturbed Hybrid Euler-Bernoulli Beam with Coupled Rigid and Flexible Motion
International Journal of Control, Automation, and Systems, vol. 15, no. 2, pp.680-688, 2017
Abstract : "In this paper, a robust adaptive boundary controller is proposed to stabilize the coupled rigid-flexible
motion of an Euler-Bernoulli beam in presence of boundary and distributed perturbations. Applying Hamilton’s
principle, the dynamics of the hybrid beam model, including the actuators hub and the payload at its ends, is represented
through four nonhomogeneous nonlinear partial differential equations (PDEs) subject to ordinary differential
equations (ODEs) of boundary conditions. Using a Lyapunov-based control synthesis procedure, a robust nonlinear
boundary controller is established that asymptotically stabilizes the perturbed beam vibration while regulating the
rigid motion coordinates. A redesign of the proposed control laws produces a robust adaptive boundary controller
that achieves control objectives in the presence of both parametric and modelling uncertainties. Control design is
directly based on system PDEs without truncating the model so that instabilities from spillover effects are mitigated.
The control inputs to the beam consist of three forces/torque applied to the actuators hub and a transverse
force applied to the tip payload. Simulation results are used to investigate the efficiency of the proposed approach."
Boundary control, hybrid beam, robust adaptive control, vibration stabilization.