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

86 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

Bibliographical note

Funding Information:
Manuscript received August 2, 2019; revised December 20, 2019; accepted March 10, 2020. Date of publication April 9, 2020; date of current version January 27, 2021. This work was supported in part by the China Postdoctoral Science Foundation under Grant 2019M660463, in part by the Fundamental Research Funds for the China Central Universities of USTB under Grant FRF-IDRY-19-024 and Grant FRF-TP-19-001B2, in part by the Beijing Top Discipline for Artificial Intelligent Science and Engineering of USTB in part by the National Natural Science Foundation of China under Grant 61803109, in part by the Science and Technology Planning Project of Guangzhou City under Grant 201904010494, in part by a project from Hong Kong government under Grant 11210719, and in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449. (Corresponding authors: Zhijia Zhao; Choon Ki Ahn.) Zhijie Liu and Xiuyu He are with the Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, School of Automation and Electrical Engineering, and Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China, and also with Shunde Graduate School of University of Science and Technology Beijing, Foshan 528300, China (e-mail: [email protected]; [email protected]).

Publisher Copyright:
© 1982-2012 IEEE.


  • 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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