Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults

An adaptive sliding mode fault-tolerant controller based on fault observer is proposed for the space robots with joint actuator gain faults. Firstly, dynamic model of underactuated robot deduced combining conservation law linear momentum Lagrange method. Then, manipulator joints obtained by using mathematical operation block matrices, hence measurement angular acceleration base attitude can be omitted. Subsequently, a which accurately estimate faults designed, and estimated results are fed back to controller. It proved that control algorithm guarantee global asymptotic stability closed-loop system through Lyapunov theorem. The simulation authenticate effectiveness feasibility strategy observation scheme.