Adaptive Fault-Tolerant Boundary Control of a Rotating Body-Beam System With Input Dead Zone and Actuator Fault

This article studies the adaptive boundary control of a rotating body-beam system (RBBS) composed of a cantilevered beam with a tip payload connected to its upper end. The opposite end of the beam is fixed to the center of a rotational rigid disk. We assume that the dynamic process of the RBBS is affected by unknown disturbances and parameters. The external control actions, constituted by a control force exerted on the tip payload and a control torque acting on the disk, occur in dead zone nonlinearity and actuator failure. First, the mathematical expression of dead zone nonlinearity and actuator failure is combined and then divided into a desired control signal and a nonlinear input error. Second, by summing the input errors and external disturbances, adaptive boundary control and parameter compensation laws are designed for the RBBS to ensure vibration attenuation and regulate the rotating speed of the disk to a desired value. Third, the constructed control schemes ensure uniformity ultimately and boundedness regulation of the state variables, which is proved through the Lyapunov direct method. Finally, the effectiveness and robustness of the designed controllers are tested using numerical simulations.