Boundary control for PDE flexible manipulators: Accommodation to both actuator faults and sensor faults

This paper focuses on the controller design and vibration elimination for a flexible single-link manipulator. The flexible single-link manipulator considered in this paper is described by partial differential equations (PDEs). Considering actuator faults and sensor faults simultaneously, a novel boundary controller is designed for the flexible manipulator system. The actuator faults are special since the control directions are unknown. In the proposed controller, the Nussbaum-type function is used, and an adaptive law is applied. The system performance analysis is given with the aid of Lyapunov approach, and the closed-loop PDE system is guaranteed to have semi-global uniform ultimate boundedness (SGUUB). In simulation, several cases are carried out to validate the effectiveness of the proposed controller, under actuator faults and sensor faults.