Passivity-based Boundary Controls of Flexible Beams with Large Deformations

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  • Nishida Gou
    The Department of Applied Analysis and Complex Dynamical Systems, Graduate School of Informatics, Kyoto University
  • Yamaguchi Kyosuke
    The Department of Aerospace Engineering, Graduate School of Engineering, Nagoya University
  • Sakamoto Noboru
    The Department of Aerospace Engineering, Graduate School of Engineering, Nagoya University

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Other Title
  • 大変形を伴う柔軟梁の受動性に基づく境界制御
  • ダイヘンケイ オ トモナウ ジュウナンリョウ ノ ジュドウセイ ニ モトズク キョウカイ セイギョ

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Abstract

This paper discusses passivity-based boundary controls of flexible beams with large deformations in terms of a distributed parameter port-Hamiltonian system. Distributed parameter systems have been mainly studied from the viewpoint of analytical methods. However, analytical solutions cannot be always derived from nonlinear distributed parameter systems such as the flexible beam. A distributed parameter port-Hamiltonian system is a standard control representation that can be applied to such a complex system without model reductions. The passivity-based boundary controls consist of boundary damping assignment and boundary energy shaping. Inputs and outputs for the controls are systematically derived from the system representation. Finally, we illustrate numerical results of the controls for stabilizing the flexible beam and shaping its potential energy. <br>

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