Adaptive Multi-Fault-Tolerant Boundary Control of an Euler–Bernoulli Beam System with Control-Matched Disturbances

This article settles a new multi-fault-tolerant control problem of an Euler–Bernoulli beam system (EBBS) in the existence of multiplicative faults, additive faults, and control-matched disturbances simultaneously, using the direct adaptive learning control technique. Such an EBBS can be employed to model the vibration of flexible vehicles and flexible manipulators in the actual engineering control. An original hierarchical adaptive boundary control strategy is developed to compensate for multiplicative and additive faults and to reject control-matched disturbances. The classical Lyapunov direct method, together with the variation of Wirtinger’s inequality is utilized to demonstrate the closed-loop system performance. The modified C0-semigroup frame is exploited to certify the well-posedness of its solution under the designed controller. Simulation study on a simply supported beam is demonstrated to verify the validity of the evolved multi-fault-tolerant boundary control algorithm.