State Observer Based Robust Backstepping Fault-Tolerant Control of the Free-Floating Flexible-Joint Space Manipulator

Actuator failure and joint flexibility will dramatically impact space robot system control. In this paper, free-floating flexible-joint space-manipulator dynamic-modeling is studied and a state-observer-based robust backstepping fault-tolerant control is proposed for the system joint actuator failur...

Descripció completa

Dades bibliogràfiques

Autors principals:	Limin Xie, Xiaoyan Yu
Format:	Artigo
Idioma:	Inglês
Publicat:	MDPI AG 2023-02-01
Col·lecció:	Applied Sciences
Matèries:	free-floating space manipulator flexible joint robust backstepping singular perturbation
Accés en línia:	https://www.mdpi.com/2076-3417/13/4/2634
Etiquetes:	Afegir etiqueta Sense etiquetes, Sigues el primer a etiquetar aquest registre!