Boundary adaptive fault-tolerant control for a flexible Timoshenko arm with backlash-like hysteresis

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Article number109690
Journal / PublicationAutomatica
Online published13 May 2021
Publication statusOnline published - 13 May 2021


This study is concerned with a novel adaptive fault-tolerant control design for a flexible Timoshenko arm considering the effects of actuator failures, backlash-like hysteresis, and external disturbances. First, the actuator failures and backlash-like hysteresis are integrated together and resolved into desired control signals and nonlinear errors. Second, these errors and external disturbances are deemed as composite disturbance terms to be handled with adaptive techniques. Third, adaptive fault-tolerant controllers with online updates are established to eliminate the shear deformation and elastic oscillation, lay the arm in a desired angle, counteract the hybrid effects of actuator failures and hysteresis, and deal with the uncertainty of composite disturbances. Then, based on the Lyapunov's stability theory, the proposed strategy guarantees the uniformly bounded stability in the controlled system. Finally, numerical examples are presented to illustrate the efficacy of the suggested scheme.

Research Area(s)

  • Actuator failure, Adaptive fault-tolerant control, Backlash-like hysteresis, Timoshenko arm, Vibration control