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....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.展开更多
基金supported in part by the National Natural Science Fundation of China under Grant Nos.62403263 and 62373207in part by the Natural Science Fundation of Qingdao,China under Grant No.24-4-4-zrjj-88-jch+1 种基金in part by the Team Plan for Youth Innovation of Universities in Shandong Province under Grant No.2024KJH148in 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.
文摘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.
