Stabilization of Euler-Bernoulli Beam Equation with Boundary Moment Control and Disturbance by Active Disturbance Rejection Control and Sliding Mode Control Approaches

Abstract

We consider boundary stabilization for a one-dimensional Euler-Bernoulli equation with boundary moment control and disturbance. The active disturbance rejection control (ADRC) and sliding mode control (SMC) approaches are adopted in investigation. By the ADRC approach, a state feedback disturbance estimator with time-varying gain is designed to estimate the disturbance. It is shown that the closed-loop system is asymptotically stable by canceling the disturbance in the feedback loop with its online estimation. In the second part, the SMC is applied to reject the disturbance. The well-posedness of the closed-loop system via SMC is proven, and the monotonicity of the "reaching condition" is presented without differentiating the sliding mode function which may not always exist for the weak solution. The numerical experiments are presented to illustrate the convergence and the peaking value reduction caused by the constant high gain. In addition, the control energies are compared numerically for two approaches.