1. Control of Resonant Disturbances on an Euler Bernoulli Beam using a Robust PDE Boundary Control Technique
- Author
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Karagiannis, Dimitri and Radisavljevic-Gajic, Verica
- Abstract
This paper discusses and analyzes the capabilities and limitations of a series of related controllers for Euler-Bernoulli beam vibration, and the powerful capabilities of a robust second order sliding mode backstepping control method are exhibited. Motivated by the open-loop unstable response to harmonic excitations at resonant frequencies, specific attention is given to disturbances at system resonant frequencies. It is shown that the second order sliding mode backstepping controller provides arbitrary exponential stability of the beam position where other similar controllers cannot. Furthermore, it is shown that other controllers exhibit large (relative to the disturbance) steady state harmonic vibrations, or otherwise do not return the system to the origin. This paper is an extension of the Dynamic Systems and Control Division Vibrations Technical Committee “Best Vibrations Paper Award”-winning conference paper [1]. The previous work is significantly extended to include an exponentially stabilizing, second order sliding mode controller, and discusses several boundary conditions.
- Published
- 2024
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