Attitude Regulation and Vibration Suppression of a Rotating Flexible Beam with a Moving Actuator
Ti Chen, Dekang Kong, Fengyi Ding, Zhou Yang, Dongdong Li
Abstract: The system composed of a moving actuator and a flexible beam can effectively describe numerous practical space structures. It is still an open problem how to control the actuator position and beam vibration for such a system considering some practical state constraints. Hence, this study investigates the controller design for attitude regulation and vibration suppression of a rotating flexible beam with a moving actuator. The coupling dynamics of the beam with the moving actuator are described by Partial Differential Equations (PDEs). The asymmetric barrier functions are utilized to prevent the actuator from leaving the flexible beam, while the symmetric barrier functions are employed to ensure that the vibration constraints are not violated. An adaptive controller is proposed to compensate for the unknown mass of the moving actuator. For cases where only partial states can be measured, a PDE observer based on the information of the actuator and the hub is introduced to estimate the states of the beam. It is rigorously demonstrated that the adaptive controller and the adaptive controller with the PDE observer can asymptotically drive the beam and the actuator to the desired state without residual vibrations. The validity of the suggested methods is proved via simulations and experimental studies. The overshoot, convergence time and integral square error of the adaptive control with state constraints are compared with those of the PD controller to show the advantages of the proposed controller.
文章链接：https://www.sciencedirect.com/science/article/pii/S0016003225003667
