Active boundary control of a fire-rescue ladder

Recently, the fire-rescue ladder is towards to the direction of faster operation, lighter, extended length and larger outreach. The lightweight of the fire-rescue ladder and the limited stiffness of the ladder structure directly lead to different bending vibration problems in different modes. In this paper, the fire-rescue ladder is modeled as segmented Euler-Bemoulli beam with gravity and tip mass. Based on the theory of Lyapunov's direct method, the robust boundary control is first proposed to damp the vibration of segmented Euler-Bemoulli beam which consider the gravity of the beam and tip mass. With the proposed boundary control, the states of the beam system are proven to be asymptotic stable. Finally, the finite difference method is used to simulate the model and control strategy proposed in this paper. In addition, simulation is provided to illustrate the effectiveness and ascendancy of the designed boundary control.