Output feedback maneuvering control of random Lagrange systems with actuator malfunctions

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.