Output feedback maneuvering control of random Lagrange systems with actuator malfunctions

Cun Yang; Cun Yang

doi:10.3934/era.2025221

Electronic Research Archive

2025, Volume 33, Issue 8: 4917-4932. doi: 10.3934/era.2025221

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Research article

Output feedback maneuvering control of random Lagrange systems with actuator malfunctions

Cun Yang ^,

School of Mathematics and Informational Science, Shandong Technology and Business University, Yantai 264005, China

Received: 02 July 2025 Revised: 10 August 2025 Accepted: 18 August 2025 Published: 22 August 2025

In this paper, a fault-tolerant output feedback maneuvering control scheme with prescribed performance for a class of random Euler–Lagrange systems with unmeasurable velocity and actuator faults is presented. First, an adjustable velocity observer is ingeniously constructed without additional dynamic compensation signals. Second, a projection operator is used to estimate the actuator fault factors. Based on the designed observer and projection operator, a static controller is designed to address geometric tasks with performance constraints, while a dynamic controller is developed to achieve speed allocation tasks. Finally, the effectiveness of the proposed control method is demonstrated through an illustrative example involving a two-link robotic system operating in a random environment.
- Euler–Lagrange system,
- maneuvering,
- colored noise,
- loss of effectiveness fault,
- velocity observer
Citation: Cun Yang. Output feedback maneuvering control of random Lagrange systems with actuator malfunctions[J]. Electronic Research Archive, 2025, 33(8): 4917-4932. doi: 10.3934/era.2025221

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Abstract

In this paper, a fault-tolerant output feedback maneuvering control scheme with prescribed performance for a class of random Euler–Lagrange systems with unmeasurable velocity and actuator faults is presented. First, an adjustable velocity observer is ingeniously constructed without additional dynamic compensation signals. Second, a projection operator is used to estimate the actuator fault factors. Based on the designed observer and projection operator, a static controller is designed to address geometric tasks with performance constraints, while a dynamic controller is developed to achieve speed allocation tasks. Finally, the effectiveness of the proposed control method is demonstrated through an illustrative example involving a two-link robotic system operating in a random environment.

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