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Boundary control for a flexible string system with input saturation constraint
Author(s) -
Zhao Zhijia,
Ren Zhigang,
Ma Yonghao
Publication year - 2020
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1975
Subject(s) - control theory (sociology) , backstepping , nonlinear system , boundary (topology) , string (physics) , controller (irrigation) , neighbourhood (mathematics) , constraint (computer aided design) , hyperbolic function , curvature , mathematics , tangent , computer science , control (management) , adaptive control , mathematical analysis , physics , geometry , quantum mechanics , artificial intelligence , agronomy , mathematical physics , biology
In this study, we focus on the boundary control problem for a vibrating string system with saturated input under the condition of external disturbances. Based on the backstepping approach, a boundary vibration control scheme is proposed to globally stabilize the string around the equilibrium position. A smooth hyperbolic tangent function is exploited to restrict the control input, an auxiliary system and a Nussbaum function are adopted to cope with the nonlinear term derived from the input saturation, and a disturbance observer is employed to tackle the boundary disturbance. The developed controller can assure the convergence of the closed‐loop system state to a small neighbourhood of zero. By the appropriate choice of control design parameters, numerical simulation is conducted to show the effectiveness of the derived control.