Publication: Backstepping boundary control: An application to the suppression of flexible beam vibration
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Issued Date
2018
Resource Type
File Type
application/pdf
ISSN
17578981
Other identifier(s)
2-s2.0-85046297146
Rights Holder(s)
Scopus
Bibliographic Citation
IOP Conference Series: Materials Science and Engineering. Vol 297, No.1 (2018)
Suggested Citation
Boonkumkrong N., Asadamongkon P., Chinvorarat S. Backstepping boundary control: An application to the suppression of flexible beam vibration. IOP Conference Series: Materials Science and Engineering. Vol 297, No.1 (2018). doi:10.1088/1757-899X/297/1/012047 Retrieved from: https://hdl.handle.net/20.500.14740/3701
Author(s)
Abstract
This paper presents a backstepping boundary control for vibration suppression of flexible beam. The applications are such as industrial robotic arms, space structures, etc. Most slender beams can be modelled using a shear beam. The shear beam is more complex than the conventional Euler-Bernoulli beam in that a shear deformation is additionally taken into account. At present, the application of this method in industry is rather limited, because the application of controllers to the beam is difficult. In this research, we use the shear beam with moving base as a model. The beam is cantilever type. This design method allows us to deal directly with the beam's partial differential equations (PDEs) without resorting to approximations. An observer is used to estimate the deflections along the beam. Gain kernel of the system is calculated and then used in the control law design. The control setup is anti-collocation, i.e. a sensor is placed at the beam tip and an actuator is placed at the beam moving base. Finite difference equations are used to solve the PDEs and the partial integro-differential equations (PIDEs). Control parameters are varied to see their influences that affect the control performance. The results of the control are presented via computer simulation to verify that the control scheme is effective. © Published under licence by IOP Publishing Ltd.