Control of a tip-force destabilized shear beam by observer-based boundary feedback

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	Control of a tip-force destabilized shear beam by observer-based boundary feedback
	Krstic, Miroslav 1; Guo, Bao-Zhu2 ; Balogh, Andras 3; Smyshlyaev, Andrey 1
刊名	SIAM JOURNAL ON CONTROL AND OPTIMIZATION
	2008
卷号	47 期号:2 页码:553-574
关键词	distributed parameter systems shear beam backstepping stabilization boundary control
ISSN号	0363-0129
英文摘要	We consider a model of the undamped shear beam with a destabilizing boundary condition. The motivation for this model comes from atomic force microscopy, where the tip of the cantilever beam is destabilized by van der Waals forces acting between the tip and the material surface. Previous research efforts relied on collocated actuation and sensing at the tip, exploiting the passivity property between the corresponding input and output in the beam model. In this paper we design a stabilizing output-feedback controller in a noncollocated setting, with measurements at the free end ( tip) of the beam and actuation at the beam base. Our control design is a novel combination of the classical "damping boundary feedback" idea with a recently developed backstepping approach. A change of variables is constructed which converts the beam model into a wave equation ( for a very short string) with boundary damping. This approach is physically intuitive and allows both an elegant stability analysis and an easy selection of design parameters for achieving desired performance. Our observer design is a dual of the similar ideas, combining the damping feedback with backstepping, adapted to the observer error system. Both stability and well-posedness of the closed-loop system are proved. The simulation results are presented.
WOS研究方向	Automation & Control Systems ; Mathematics
语种	英语
出版者	SIAM PUBLICATIONS
WOS记录号	WOS:000254460600001
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/6582]
专题	系统科学研究所
通讯作者	Krstic, Miroslav
作者单位	1.Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA 2.Acad Sinica, Acad Math & Syst Sci, Beijing 100080, Peoples R China 3.Univ Texas Pan Amer, Dept Math, Edinburg, TX 78541 USA
推荐引用方式 GB/T 7714	Krstic, Miroslav,Guo, Bao-Zhu,Balogh, Andras,et al. Control of a tip-force destabilized shear beam by observer-based boundary feedback[J]. SIAM JOURNAL ON CONTROL AND OPTIMIZATION,2008,47(2):553-574.
APA	Krstic, Miroslav,Guo, Bao-Zhu,Balogh, Andras,&Smyshlyaev, Andrey.(2008).Control of a tip-force destabilized shear beam by observer-based boundary feedback.SIAM JOURNAL ON CONTROL AND OPTIMIZATION,47(2),553-574.
MLA	Krstic, Miroslav,et al."Control of a tip-force destabilized shear beam by observer-based boundary feedback".SIAM JOURNAL ON CONTROL AND OPTIMIZATION 47.2(2008):553-574.