@article{Yang2025, 
author = {Cun Yang},
title = {Output feedback maneuvering control of random Lagrange systems with actuator malfunctions},
year = {2025},
journal = {Electronic Research Archive},
volume = {33},
number = {8},
pages = {4917-4932},
keywords = {Euler–Lagrange system, maneuvering, colored noise, loss of effectiveness fault, velocity observer},
url = {https://www.sciopen.com/article/10.3934/era.2025221},
doi = {10.3934/era.2025221},
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.}
}