Vibration suppression and angle tracking of a fire-rescue ladder

J. Feng, X. He, S. Zhang, G. Li

Research output: Contribution to journalArticlepeer-review


This paper mainly considers vibration suppression and angle tracking of a fire-rescue ladder system. The dynamical model is regarded as a segmented Euler–Bernoulli beam with gravity and tip mass, described by a set of motion equations and boundary conditions. Based on the nonlinear Euler–Bernoulli beam model, two active boundary controllers are proposed to achieve the control objectives. The elastic deflection and the angular error in the closed-loop system are proven to converge exponentially to a small neighborhood of zero. Numerical simulations based on finite difference method verify the effectiveness and the ascendancy of active boundary controllers.
Original languageEnglish
Pages (from-to)2365–2380
Number of pages16
JournalNonlinear Dynamics
Issue number3
Publication statusPublished - 8 May 2020


  • vibration suppression
  • angle tracking
  • active boundary control
  • non-uniform Euler–Bernoulli beam
  • distributed parameter system


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