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Boundary output tracking for an Euler-Bernoulli beam equation with unmatched perturbations from a known exosystem
Jin, Feng-Fei1; Guo, Bao-Zhu2,3,4
2019-11-01
Source PublicationAUTOMATICA
ISSN0005-1098
Volume109Pages:9
AbstractIn this paper, we consider boundary output regulation for an Euler-Bernoulli beam equation which can describe typically the flexible arm of robots. The reference signal and disturbance are generated by a finite-dimensional exosystem. The measurements are angular and angular velocity of the right end where the control is imposed. However, the performance output is on the left end which is non collocated with control, a difficult case in practice where the control takes time to perform its force from the right end to the left. The objective is to design an output feedback controller to regulate the displacement of the left end to track the reference signal. We first design a state feedback regulator to make the performance output track the reference signal exponentially. An observer is then constructed to recover the state, with which, an output feedback regulator is designed by replacing state feedback with its estimation. The closed-loop system is shown to admit a unique bounded solution and the tracking error converges to zero exponentially. Some numerical simulations are presented to illustrate the effectiveness of the proposed output feedback regulator. (C) 2019 Elsevier Ltd. All rights reserved.
KeywordOutput feedback regulator Boundary control Euler-Bernoulli beam Exosystem
DOI10.1016/j.automatica.2019.108507
Language英语
Funding ProjectNational Natural Science Foundation of China
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000488416900019
PublisherPERGAMON-ELSEVIER SCIENCE LTD
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Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/35793
Collection系统科学研究所
Affiliation1.Shandong Normal Univ, Sch Math & Stat, Jinan 250014, Shandong, Peoples R China
2.North China Elect Power Univ, Dept Math & Phys, Beijing 102206, Peoples R China
3.Acad Sinica, Acad Math & Syst Sci, Beijing 100190, Peoples R China
4.Foshan Univ, Sch Math & Big Data, Foshan 528000, Peoples R China
Recommended Citation
GB/T 7714
Jin, Feng-Fei,Guo, Bao-Zhu. Boundary output tracking for an Euler-Bernoulli beam equation with unmatched perturbations from a known exosystem[J]. AUTOMATICA,2019,109:9.
APA Jin, Feng-Fei,&Guo, Bao-Zhu.(2019).Boundary output tracking for an Euler-Bernoulli beam equation with unmatched perturbations from a known exosystem.AUTOMATICA,109,9.
MLA Jin, Feng-Fei,et al."Boundary output tracking for an Euler-Bernoulli beam equation with unmatched perturbations from a known exosystem".AUTOMATICA 109(2019):9.
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