Robust multi-modal vibration control of a rotating smart beam with end mass

Abstract

A coupled bending–torsional model of a rotating beam with an attached piezoelectric actuator and end mass is developed in this work. An integral sliding mode controller is designed to suppress coupled bending–torsional vibrations while maintaining the rotational speed, using a single collocated piezoelectric actuator–sensor pair. Since full-state feedback is required and direct measurement of torsional responses is challenging in rotating beams, a Kalman filter is incorporated to accurately estimate all system states. The proposed framework enables simultaneous control of bending and torsional vibrations in rotating smart beams subjected to external disturbances using minimal actuation and sensing. Numerical simulations demonstrate that the Kalman-filter-based integral sliding mode controller achieves superior vibration attenuation with reduced control effort, while ensuring robustness against uncertainties. The results highlight the potential of the proposed strategy as an efficient and robust approach for vibration control in rotating smart structures.