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    Boundary tracking control of flexible beams for transferring motions

    81408.pdf (1.481Mb)
    Access Status
    Open access
    Authors
    Do, Khac Duc
    Date
    2020
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Do, K.D. 2020. Boundary tracking control of flexible beams for transferring motions. International Journal of Systems Science. 51 (12): pp. 2091-2114.
    Source Title
    International Journal of Systems Science
    DOI
    10.1080/00207721.2020.1772401
    ISSN
    0020-7721
    Faculty
    Faculty of Science and Engineering
    School
    School of Civil and Mechanical Engineering
    Remarks

    This is an accepted manuscript of an article published by Taylor & Francis in International Journal of Systems Science on 13 Aug 2020 available online at http://www.tandfonline.com/10.1080/00207721.2020.1772401.

    URI
    http://hdl.handle.net/20.500.11937/81344
    Collection
    • Curtin Research Publications
    Abstract

    © 2020 Informa UK Limited, trading as Taylor & Francis Group. Although flexible beams for transmitting both translational and rotational large motions are used in practice such as ocean drill pipes, their control has not been considered. This paper develops boundary feedback controllers to stabilise these beams at their reference configurations. Exact nonlinear partial differential equations governing motion of the beams in three-dimensional space are derived and used in the control design. The designed controllers guarantee globally practically asymptotically stability of the beam motions at the reference states (i.e. positions and rotations of a straight beam moving axially with a desired velocity and rotating around its axial axis with a desired velocity). In the control design and analysis of well-posedness and stability, we utilise different transformations between the earth-fixed and body-fixed coordinates, Sobolev embeddings, and a Lyapunov-type theorem developed for a class of evolution systems in Hilbert space. Simulation results are also included to illustrate the effectiveness of the proposed control design.

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