Boundary control of the Timoshenko beam with free-end mass/inertial dynamics
Authors:
- D.M. DawsonDDD.M. Dawson
- M.S. de QueirozMQM.S. de Queiroz
- P. VedagarbhaPVP. Vedagarbha
- 22 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1 (01912216) , 245-250
Abstract
In this paper, we design a control strategy for a cantilevered Timoshenko beam with free-end mass/inertial dynamics. The control strategy, which is composed of boundary force and torque inputs applied to the beam's free-end requires measurements of the free-end displacement, slope, rotation due to bending, slope of the rotation due to bending and the time derivatives of these quantities. We initially develop a model-based control law which exponentially stabilizes the beam displacement and rotation. We then illustrate how the model-based control law can be redesigned as an adaptive controller which asymptotically stabilizes the beam displacement and rotation while compensating for parametric uncertainty. Experimental results are included to illustrate the control performance.Keywords
This publication has 14 references indexed in Scilit:
- The effect of rotating speed on the flexural vibration of a Timoshenko beam2002
- Boundary feedback stabilization of a rotating body-beam system2002
- Boundary control of a cantilevered flexible beam with point-mass dynamics at the free endMechatronics, 1998
- Axial Force Stabilization of Transverse Vibration in Pinned and Clamped BeamsJournal of Dynamic Systems, Measurement, and Control, 1996
- Shear force feedback control of flexible robot armsIEEE Transactions on Robotics and Automation, 1995
- Control and stabilization of a rotating flexible structureAutomatica, 1994
- Direct strain feedback control of flexible robot arms: new theoretical and experimental resultsIEEE Transactions on Automatic Control, 1993
- Stabilizability and stabilization of a rotating body-beam system with torque controlIEEE Transactions on Automatic Control, 1993
- Dynamic boundary control of a Euler-Bernoulli beamIEEE Transactions on Automatic Control, 1992
- Boundary Control of the Timoshenko BeamSIAM Journal on Control and Optimization, 1987