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.