Stabilization of a rotating body–beam by output feedback torque control

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-06-19 DOI:10.1016/j.automatica.2025.112446

Xi Xu , Cheng-Zhong Xu , Xueru Fan , Chun-Hai Kou

引用次数: 0

Abstract

This paper deals with the output feedback stabilization problem for a rotating body–beam system, originally studied by Baillieul and Levi. Inspired by the work of Li and Xu, we design an observer to estimate the system state by measuring the boundary moment force of beam at root and the angular velocity of disk. A novel Lyapunov functional is developed to prove exponential convergence of the observer. Utilizing the observer in the control law designed by Coron and d’Andréa-Novel, we achieve local asymptotic stability of the closed-loop system. Our results present an example of applying the so-called separation principle to stabilize nonlinear infinite-dimensional systems, whose applicability is well-known to finite dimensional systems.

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用输出反馈转矩控制稳定旋转体梁

本文讨论了由Baillieul和Levi最初研究的旋转体梁系统的输出反馈镇定问题。受Li和Xu的工作启发，我们设计了一个观测器，通过测量梁在根处的边界矩力和圆盘的角速度来估计系统的状态。提出了一种新的Lyapunov泛函来证明观测器的指数收敛性。利用Coron和d’andr - novel设计的控制律中的观测器，我们实现了闭环系统的局部渐近稳定。我们的结果提供了一个应用所谓的分离原理来稳定非线性无限维系统的例子，它的适用性是众所周知的有限维系统。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.