Vibration suppression of a telescopic beam under actuator failure

This paper investigates the vibration suppression of a deployable beam system in the presence of time-varying actuator faults. The system modeling takes into account the characteristics of time-varying faults, incorporating both additive and multiplicative faults into the model of the flexible deployable beam. Based on the Lyapunov function, the controller design is meticulously derived, employing an adaptive estimator for offset faults and a Nussbaum gain algorithm for multiplicative faults. The robustness and effectiveness of the controller under time-varying faults are verified through simulation comparisons.