Dynamic Event-Triggered Fault-Tolerant Control for a Delayed Flexible Manipulator With Actuator Failures

Dynamic Event-Triggered Fault-Tolerant Control for a Delayed Flexible Manipulator With Actuator Failures | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Dynamic Event-Triggered Fault-Tolerant Control for a Delayed Flexible Manipulator With Actuator Failures Qian Qiu, Yun Liu, Chunbin Qin This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8561264/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 14 You are reading this latest preprint version Abstract This study develops a novel dynamic event-triggered fault-tolerant boundary control strategy for the flexible manipulator governed by the partial differential equation (PDE) and subject to actuator failures, time delays, and dynamic uncertainties. First, a dynamic compensation scheme employing adaptive neural networks is developed to approximate the unknown dynamics of the system, thereby effectively handling time-delay effects, dynamic uncertainties, and potential actuator faults. Second, to reduce communication burden and computational load, a novel dynamic event-triggered mechanism is introduced. Furthermore, based on the backstepping technique, the neural network-based boundary control law is obtained. Through Lyapunov-based analysis, the dynamic event-triggered boundary strategy guarantees the boundedness of all signals in the closed-loop system, which not only suppresses the elastic deformation but also adjusts the flexible manipulator to track the desired joint angle. Finally, the effectiveness of the developed algorithm is well demonstrated through the numerical simulation results. Flexible manipulator Fault-tolerant boundary control Time delays Actuator failures dynamic uncertainties dynamic event-triggered control Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Editorial decision: Revision requested 18 Mar, 2026 Reviews received at journal 28 Feb, 2026 Reviews received at journal 25 Feb, 2026 Reviews received at journal 13 Feb, 2026 Reviewers agreed at journal 03 Feb, 2026 Reviewers agreed at journal 03 Feb, 2026 Reviewers agreed at journal 31 Jan, 2026 Reviewers agreed at journal 31 Jan, 2026 Reviewers agreed at journal 31 Jan, 2026 Reviewers agreed at journal 29 Jan, 2026 Reviewers invited by journal 29 Jan, 2026 Editor assigned by journal 09 Jan, 2026 Submission checks completed at journal 09 Jan, 2026 First submitted to journal 09 Jan, 2026 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8561264","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":583666558,"identity":"5a74716e-7401-4eeb-9e0b-6414e1151683","order_by":0,"name":"Qian Qiu","email":"","orcid":"","institution":"Henan University","correspondingAuthor":false,"prefix":"","firstName":"Qian","middleName":"","lastName":"Qiu","suffix":""},{"id":583666559,"identity":"232bb22c-6a50-4f25-8118-6e47387f5aab","order_by":1,"name":"Yun Liu","email":"","orcid":"","institution":"Henan University","correspondingAuthor":false,"prefix":"","firstName":"Yun","middleName":"","lastName":"Liu","suffix":""},{"id":583666565,"identity":"dfbc6bdc-6101-4298-bcc1-2e7862fa5c45","order_by":2,"name":"Chunbin Qin","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAqUlEQVRIiWNgGAWjYFACHsbHUJYB0VqYjUnWwiZNmha+42ePVRdU3ElsYG/eJsFQc4ewFskzeWm3Z5x5ltjAc6xMguHYM8JaDG7wmN3mbTuc2CCRYybB2HCYOC3FvP+AWuTfkKCFmbcBZAsPkVqAfkmW5jl22LiNJ63YIuEYEVqAIXbwM0/NYdl+9sMbb3yoIUILwwEozQYiEojQgNAyCkbBKBgFowAnAAAd1Dh834AtowAAAABJRU5ErkJggg==","orcid":"","institution":"Henan University","correspondingAuthor":true,"prefix":"","firstName":"Chunbin","middleName":"","lastName":"Qin","suffix":""}],"badges":[],"createdAt":"2026-01-09 12:54:36","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-8561264/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-8561264/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":101752749,"identity":"f6b9f5d1-ad5f-4b9e-846e-6760c0662afd","added_by":"auto","created_at":"2026-02-03 10:29:35","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":964477,"visible":true,"origin":"","legend":"","description":"","filename":"DynamicEventTriggeredFaultTolerantControlforaDelayedFlexibleManipulatorWithActuatorFailures.pdf","url":"https://assets-eu.researchsquare.com/files/rs-8561264/v1_covered_75565cbb-920a-4738-ba1c-4cde2bc9518c.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Dynamic Event-Triggered Fault-Tolerant Control for a Delayed Flexible Manipulator With Actuator Failures","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"nonlinear-dynamics","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"nody","sideBox":"Learn more about [Nonlinear Dynamics](https://www.springer.com/journal/11071)","snPcode":"11071","submissionUrl":"https://submission.nature.com/new-submission/11071/3","title":"Nonlinear Dynamics","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Flexible manipulator, Fault-tolerant boundary control, Time delays, Actuator failures, dynamic uncertainties, dynamic event-triggered control","lastPublishedDoi":"10.21203/rs.3.rs-8561264/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-8561264/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"This study develops a novel dynamic event-triggered fault-tolerant boundary control strategy for the flexible manipulator governed by the partial differential equation (PDE) and subject to actuator failures, time delays, and dynamic uncertainties. 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