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<p>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.</p>

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Boundary control of an uncertain rotating body-beam system with tip mass and input backlash

  • 期刊论文

  • 发表日期：

    2025年8月18日

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  • Fuzhuang Han,
  • Mingli Cui,
  • Yang Yu,
  • Hai-Long Pei

摘要

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.