Hybrid-triggered backstepping control for a rotating flexible beam with a mobile actuator.

Authors

Jiayi Yang, Xinyuan Li, Ti Chen, Zhou Yang, Dongping Jin

Published in

ISA transactions. Oct 08, 2026. Epub Oct 08, 2026.

Abstract

This paper considers a rotating flexible beam equipped with a mobile actuator. The actuator leads to an extra translational degree of freedom and makes the spatial distribution of the control input vary with the actuator position. A coupled PDE-ODE model of the system is derived via Hamilton's principle. For the strongly coupled rigid-flexible dynamics, a continuous-time backstepping controller incorporating barrier Lyapunov functions is developed for attitude regulation and vibration suppression under output constraints. A hybrid-triggered control scheme is proposed to further balance control performance with control update frequency and mitigate mechanical wear of the actuator. Specifically, event-triggered control is applied to the rigid-body motions, while continuous-time control is maintained for the vibration suppression task. Numerical simulations verify the effectiveness of the proposed control scheme.

PMID:
42880989
Bibliographic data and abstract were imported from PubMed on 16 Oct 2026.

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