Feedback stabilization of rotating Timoshenko beam with adaptive gain

Abstract

The problem of boundary feedback stabilization of rotating Timoshenko beam, arising from control of flexible robot arms, is studied in this paper. First, under gain adaptive direct strain feedback controls, a counterexample is given to show that the corresponding closed loop system is not asymptotically stable, which is contrary to traditional conjecture. The counterexample given in this paper also exemplifies an interesting result: certain two two-order linear partial differential equations with five homogeneous boundary conditions have non-trivial solutions. Then, with an additional boundary feedback control, the related energy of the closed loop system is proved to be strongly stable, or more precisely, the configuration of the beam can be exponentially stabilized with some suitable non-linear boundary feedback controls with adaptive gain.