Nonlinear feedback control of slewing beams Original Research Article

This paper is concerned with feedback control of slewing beams. It allows for the hub to have finite rotation which leads to a fully nonlinear system. It uses the method of state-dependent Riccati equation (SDRE) to obtain feedback control laws. The model assumes finite rigid body rotations and infinitesimal (small) elastic displacements. It considers both the classical Euler–Bermoulli model and the Timoshenko model for the beam. It uses finite element method to obtain approximate equations that can be used to construct feedback control laws.