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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-02-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/13/4/2634 |