Vibration Control for a Flexible Timoshenko Arm Subject to Constrained Input

This paper copes with the vibration reduction and angle positioning issues of a flexible Timoshenko arm system by developing a boundary vibration control strategy. Considering the influence of nonlinear input constraints, constrained boundary controllers are proposed by integrating smooth hyperbolic tangent functions to reduce the elastic and shear deformations and achieve the angular tracking for the flexible link. Meanwhile, these controllers are constrained within the desired input limitations. Under the proposed controller, the theoretical analysis and simulations were made to present the stability of the system and the feasibility of the proposed control strategy.