PDE modelling and switch strategy controller design for a flexible detection system with output constraint and actuator failure

Abstract A novel approach for modelling a mine detection robot system is presented in this paper using partial differential equations and Hamilton’s principle. The comprises rigid arm, detecting sensor module, flexible string. addresses the challenges of boundary deflection constraint actuator fault. To overcome these challenges, unique controller developed Barrier Lyapunov function switching strategy. This enables to achieve desired position eliminate vibration superiority designed control law demonstrated through simulation results. Furthermore, asymptotic stability closed-loop established by use extending LaSalle’s Invariance principle an infinite dimensional system. ensures that will eventually reach stable state over time.