Vibration Control for Spatial Aerial Refueling Hoses with Bounded Actuators

Zhijie Liu, Xiuyu He, Zhijia Zhao, Choon Ki Ahn, Han Xiong Li

Research output: Contribution to journalArticlepeer-review

71 Citations (Scopus)


This article presents a control scheme for stabilizing a vibrating flexible hose used for aerial refueling subject to bounded actuators for the rate and magnitude. A dynamical model of hose systems is captured by partial differential equations (PDEs). Based on the PDE model, a novel boundary control law is proposed to dampen the flexible hose's vibration. The backstepping approach is utilized to devise the control scheme, with the bounded input magnitude and derivative handled by adopting the smooth hyperbolic tangent function. The Lyapunov criterion is exploited to demonstrate the stability of the controlled system. Finally, simulation results are used to evaluate the validity of the derived scheme.

Original languageEnglish
Article number9062594
Pages (from-to)4209-4217
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Issue number5
Publication statusPublished - 2021 May


  • Boundary control
  • distributed parameter system (DPE)
  • flexible hose
  • rate and magnitude-bounded actuator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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