Boundary control of a telescopic beam with elastic joints

In this paper, an investigation is conducted on a beam system with elastic joints and a retractable configuration. Building upon the dynamics of the beam system, the dynamic characteristics of the retractable interface are comprehensively analyzed. The mathematical model of the system is established using the Hamiltonian principle. Subsequently, a boundary control stabilization system is designed based on the Lyapunov stability analysis theory. Finally, the designed controller’s effectiveness and the system’s ultimate stable state are validated through numerical simulations.