Fractional order robust adaptive control design for actuator failure compensation in dual ball-beam system

This paper is to proposes a fractional order adaptive control scheme design for actuator failure compensation in order to balance of a ball-beam system with redundant actuators. The proposed controller is based on a fractional order sliding surface from which an adaptive actuator failure compensation control scheme is obtained. In order to control the dual ball-beam system with redundant motors, a linearized model is derived, which is subjected to actuator failures. A set of numerical simulation tests representing few selected types of actuator failures scenarios are carried out to assess the output tracking performance of the proposed controller design when dealing with such failures