Boundary Output Constrained Control for a Flexible Beam System With Prescribed Performance

Abstract

This article presents a novel controller design to ensure the prescribed performance of a vibrating flexible beam system that possesses boundary output constraints and external disturbances. First, boundary output constraints are visualized as the prescribed performance characteristics, and a smooth performance function along with a proper error transformation is introduced. Second, a boundary constrained controller with a disturbance observer is developed to achieve the present performance, cope with the external disturbance, and stabilize the vibration in the beam system. Third, the principle of invariance is used for rigorous analysis and to ensure the system's asymptotic stability. Finally, the result of simulation research shows the effectiveness of the suggested approach.