2021
DOI: 10.1109/access.2021.3087505
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A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

Abstract: This paper presents a fault-tolerant control (FTC) based on impedance control and full state feedback backstepping sliding mode control (FBSMC) algorithm for an n degree of freedoms (n-DOF) serial hydraulic manipulator under the presence of matched and mismatched uncertainties and sensor faults in the constrained framework. These faulty signals, generated from unknown constant or time-variant offset values, happen on both manipulator joint angles and force sensors; thereby degrading the system performance. The… Show more

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Cited by 10 publications
(2 citation statements)
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“…Consequently, the design of the FTC scheme has been put forward for suppressing the unfavorable effects of the disturbances and sensor faults for the EHSS. Different control methods have been introduced to obtain high precision tracking control under sensor fault conditions [24][25][26][27][28]. Among them, the backstepping control technique is exploited in designing position tracking control problem for the EHSSs.…”
Section: Introductionmentioning
confidence: 99%
See 1 more Smart Citation
“…Consequently, the design of the FTC scheme has been put forward for suppressing the unfavorable effects of the disturbances and sensor faults for the EHSS. Different control methods have been introduced to obtain high precision tracking control under sensor fault conditions [24][25][26][27][28]. Among them, the backstepping control technique is exploited in designing position tracking control problem for the EHSSs.…”
Section: Introductionmentioning
confidence: 99%
“…This approach supplies a systematic framework to effectively enhance the tracking control influence. The authors of [25,28] designed an observer-based full state feedback backstepping method to deal with mismatched disturbance and displacement sensor fault for the typical applications of hydraulic systems. Nevertheless, it is worth noting that the standard backstepping control has inherent computational complexity because of the numerical differentiation.…”
Section: Introductionmentioning
confidence: 99%