Boundary control of a rotating shear beam with observer feedback

Control of a Tip-Force Destabilized Shear Beam by Observer-Based Boundary Feedback

Abstract. We consider a model of the undamped shear beam with a destabilizing boundary condition. The motivation for this model comes from atomic force microscopy, where the tip of the cantilever beam is destabilized by van der Waals forces acting between the tip and the material surface. Previous research efforts relied on collocated actuation and sensing at the tip, exploiting the passivity p...

Boundary Feedback Stabilization of a Nonlinear Flexible Gantry Manipulator Using Disturbance Observer

This paper aims to develop a boundary control solution for a single-link gantry robot manipulator with one axis of rotation. The control procedure is considered with link’s transverse vibrations while system undergoes rigid body nonlinear large rotation and translation. Initially, based on Hamilton principle, governing equations of hybrid motions as a set of partial differential equations...

Optimal Control of a Rotating Body Beam

In this paper we consider the problem of optimal control of the model for a rotating body beam with a quadric cost function. We prove that there exists at least one optimal control and give necessary conditions for the control. Furthermore, we consider the problem of obstacle and prove the existence of optimal obstacle.

The active disturbance rejection control of the rotating disk-beam system with boundary input disturbances

Nonlinear Feedback Stabilization of a Rotating Body-Beam Without Damping

This paper deals with nonlinear feedback stabilization problem of a exible beam clamped at a rigid body and free at the other end. We assume that there is no damping. The feedback law proposed here consists of a nonlinear control torque applied to the rigid body and either a nonlinear boundary control moment or a nonlinear boundary control force or both of them applied to the free end of the be...