In this paper, the vibration control problem for the payload at the end of a three-dimensional Euler–Bernoulli beam in the presence of input constraints and input disturbances is addressed. Disturbance observers are designed to estimate the disturbances on the tip payload. Based on the disturbance observers, a boundary control scheme is designed to suppress elastic vibration for the payload at the end of the beam. The smooth hyperbolic function is applied for the proposed control scheme, which can satisfy physical conditions and input constraints. It is proved that the proposed control scheme can be guaranteed in handling input constraints and disturbances. Finally, numerical simulations illustrate the effectiveness of the results.
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