Modeling and boundary control of translational and rotational motions of nonlinear slender beams in three-dimensional space

Equations of motion of extensible and shearable slender beams with large translational and rotational motions udder external loads in three-dimensional space are first derived in a vector form. Boundary feedback controllers are then designed to ensure that the beams are practically K-infinity-exponentially stable at the equilibrium. The control design, well-posedness, and stability analysis are based on two Lyapunov-type theorems developed for a class of evolution systems in Hilbert space. Numerical simulations on a slender beam immersed in sea water are included to illustrate the effectiveness of the proposed control design. (C) 2016 Elsevier Ltd. All rights reserved.