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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2026  > In Press, Accepted Manuscript
R. Zhang, Y. Ren, Y. Yu, H.-L. Pei, and J. Yu, “Barrier Lyapunov-based adaptive control of a disturbed rotating flexible beam system with boundary input dead zone,” IEEE/CAA J. Autom. Sinica, early access, 2026. doi: 10.1109/JAS.2026.126221
Citation: R. Zhang, Y. Ren, Y. Yu, H.-L. Pei, and J. Yu, “Barrier Lyapunov-based adaptive control of a disturbed rotating flexible beam system with boundary input dead zone,” IEEE/CAA J. Autom. Sinica, early access, 2026. doi: 10.1109/JAS.2026.126221
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Barrier Lyapunov-Based Adaptive Control of a Disturbed Rotating Flexible Beam System With Boundary Input Dead Zone

doi: 10.1109/JAS.2026.126221
Funds:  This work was supported in part by the National Natural Science Foundation of China (U25A20461, 62403263), the Natural Science Foundation of Shandong Province, China (ZR2025MS1111, ZR2024MF029), the Team Plan for Youth Innovation of Universities in Shandong Province (2024KJH148), and the Natural Science Foundation of Qingdao, China (24-4-4-zrjj-88-jch)
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    Abstract
  • In this study, we consider the adaptive boundary control problem of a rotating flexible beam system (RFBS) comprised of a cantilevered beam with a tip payload connected to its upper end. The opposite end of the beam is fixed to the centre of a rotating rigid disk. We suppose that the dynamic process of the system is affected by unknown disturbances and parameters. The external control action consists of a control torque applied to the disk and a control exerted on the tip payload. We further assume that both control inputs have dead zone nonlinearity. First, the dead zone nonlinearity is divided into a desired control signal and a nonlinear input error. Second, adaptive boundary control and parameter compensation laws are designed for the RFBS to ensure vibration reduction and regulate the rotating speed of the disk to a desired value, by summing those input errors and external disturbances. Third, a barrier Lyapunov function (BLF) is provided to handle boundary constraints, guaranteeing that the system states keep within a predefined limit. Furthermore, the constructed control schemes ensure ultimate uniformity and boundedness regulation of the state variables, which is proved through the Lyapunov direct method. Finally, the effectiveness and robustness of our designed controllers are verified via numerical simulations.

     

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