{"id":"https://openalex.org/W3170425123","doi":"https://doi.org/10.1109/access.2021.3087505","title":"A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment","display_name":"A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3170425123","doi":"https://doi.org/10.1109/access.2021.3087505","mag":"3170425123"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3087505","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3087505","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09448221.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09448221.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007201850","display_name":"Hoai Vu Anh Truong","orcid":"https://orcid.org/0000-0003-4859-7734"},"institutions":[{"id":"https://openalex.org/I40542001","display_name":"University of Ulsan","ror":"https://ror.org/02c2f8975","country_code":"KR","type":"education","lineage":["https://openalex.org/I40542001"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hoai Vu Anh Truong","raw_affiliation_strings":["School of Mechanical Engineering, University of Ulsan, Ulsan, South Korea","ORCiD"],"raw_orcid":"https://orcid.org/0000-0003-4859-7734","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Ulsan, Ulsan, South Korea","institution_ids":["https://openalex.org/I40542001"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043201153","display_name":"Hoai-An Trinh","orcid":"https://orcid.org/0000-0003-1217-0325"},"institutions":[{"id":"https://openalex.org/I40542001","display_name":"University of Ulsan","ror":"https://ror.org/02c2f8975","country_code":"KR","type":"education","lineage":["https://openalex.org/I40542001"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hoai An Trinh","raw_affiliation_strings":["School of Mechanical Engineering, University of Ulsan, Ulsan, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Ulsan, Ulsan, South Korea","institution_ids":["https://openalex.org/I40542001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016623753","display_name":"Duc Thien Tran","orcid":"https://orcid.org/0000-0002-6684-0681"},"institutions":[{"id":"https://openalex.org/I4210148201","display_name":"Ho Chi Minh City University of Technology and Engineering","ror":"https://ror.org/05hzn5427","country_code":"VN","type":"education","lineage":["https://openalex.org/I4210148201"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Duc Thien Tran","raw_affiliation_strings":["Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, Vietnam","ORCiD","Automatic Control Department, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, Vietnam"],"raw_orcid":"https://orcid.org/0000-0002-6684-0681","affiliations":[{"raw_affiliation_string":"Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, Vietnam","institution_ids":["https://openalex.org/I4210148201"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]},{"raw_affiliation_string":"Automatic Control Department, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, Vietnam","institution_ids":["https://openalex.org/I4210148201"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071429693","display_name":"Kyoung Kwan Ahn","orcid":"https://orcid.org/0000-0002-7927-3348"},"institutions":[{"id":"https://openalex.org/I40542001","display_name":"University of Ulsan","ror":"https://ror.org/02c2f8975","country_code":"KR","type":"education","lineage":["https://openalex.org/I40542001"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyoung Kwan Ahn","raw_affiliation_strings":["School of Mechanical Engineering, University of Ulsan, Ulsan, South Korea","ORCiD"],"raw_orcid":"https://orcid.org/0000-0002-7927-3348","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Ulsan, Ulsan, South Korea","institution_ids":["https://openalex.org/I40542001"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5007201850"],"corresponding_institution_ids":["https://openalex.org/I40542001"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.2395,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.76435959,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"88439","last_page":"88451"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8631723523139954},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6669235825538635},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.61826491355896},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5055296421051025},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4993760585784912},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.4676244854927063},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.45838895440101624},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.44542187452316284},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.42343127727508545},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36246442794799805},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.2870336174964905},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22569778561592102},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.203531414270401},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.19875261187553406},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1671895980834961},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08890858292579651}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8631723523139954},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6669235825538635},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.61826491355896},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5055296421051025},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4993760585784912},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.4676244854927063},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.45838895440101624},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.44542187452316284},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.42343127727508545},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36246442794799805},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2870336174964905},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22569778561592102},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.203531414270401},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.19875261187553406},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1671895980834961},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08890858292579651},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3087505","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3087505","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09448221.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:855bcada15334dce929ef712f0bfcb46","is_oa":true,"landing_page_url":"https://doaj.org/article/855bcada15334dce929ef712f0bfcb46","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 88439-88451 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3087505","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3087505","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09448221.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.800000011920929}],"awards":[{"id":"https://openalex.org/G3512164646","display_name":null,"funder_award_id":"NRF 2020R1A2B5B03001480","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G4394129649","display_name":null,"funder_award_id":"NRF 2020R1A2B5B03001480","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G4840555624","display_name":null,"funder_award_id":"2020R1A2B5B03001480","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G5992548300","display_name":null,"funder_award_id":"2020R1A2B5B03001480","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G6155695296","display_name":null,"funder_award_id":"NRF 2020R1A2B5B03001480","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G6688469986","display_name":null,"funder_award_id":"2020R1A2B5B03001480","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3170425123.pdf","grobid_xml":"https://content.openalex.org/works/W3170425123.grobid-xml"},"referenced_works_count":61,"referenced_works":["https://openalex.org/W1999558720","https://openalex.org/W2010647097","https://openalex.org/W2014821469","https://openalex.org/W2017041795","https://openalex.org/W2054127377","https://openalex.org/W2056849404","https://openalex.org/W2082323100","https://openalex.org/W2087050671","https://openalex.org/W2112262169","https://openalex.org/W2162006657","https://openalex.org/W2411339950","https://openalex.org/W2525291384","https://openalex.org/W2530483174","https://openalex.org/W2607112850","https://openalex.org/W2742155071","https://openalex.org/W2789837488","https://openalex.org/W2794489333","https://openalex.org/W2802966721","https://openalex.org/W2810461391","https://openalex.org/W2886690971","https://openalex.org/W2907652627","https://openalex.org/W2911432792","https://openalex.org/W2913261815","https://openalex.org/W2916695529","https://openalex.org/W2916772767","https://openalex.org/W2922121290","https://openalex.org/W2926973799","https://openalex.org/W2932287055","https://openalex.org/W2943235222","https://openalex.org/W2946723906","https://openalex.org/W2946992596","https://openalex.org/W2947806187","https://openalex.org/W2955844403","https://openalex.org/W2967262052","https://openalex.org/W2971378912","https://openalex.org/W2973080789","https://openalex.org/W2979685018","https://openalex.org/W2981902800","https://openalex.org/W2982187281","https://openalex.org/W2988614902","https://openalex.org/W2989682365","https://openalex.org/W3007688581","https://openalex.org/W3022757405","https://openalex.org/W3033846161","https://openalex.org/W3034695719","https://openalex.org/W3036442660","https://openalex.org/W3047128099","https://openalex.org/W3047138371","https://openalex.org/W3076943568","https://openalex.org/W3082061204","https://openalex.org/W3083847148","https://openalex.org/W3084310619","https://openalex.org/W3094309451","https://openalex.org/W3102321384","https://openalex.org/W3111351152","https://openalex.org/W3122349189","https://openalex.org/W3123568252","https://openalex.org/W3129392980","https://openalex.org/W3136844113","https://openalex.org/W4254418952","https://openalex.org/W6676995891"],"related_works":["https://openalex.org/W3150198677","https://openalex.org/W3177256865","https://openalex.org/W1973298112","https://openalex.org/W2378628179","https://openalex.org/W2382713386","https://openalex.org/W2392266503","https://openalex.org/W4399145918","https://openalex.org/W2066876333","https://openalex.org/W2534107666","https://openalex.org/W2117933783"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,148],"fault-tolerant":[4],"control":[5,10,18,132],"(FTC)":[6],"based":[7,99],"on":[8,58,100,147],"impedance":[9],"and":[11,36,39,63,76,79,112,123,162],"full":[12],"state":[13,102,111],"feedback":[14],"backstepping":[15],"sliding":[16],"mode":[17],"(FBSMC)":[19],"algorithm":[20,98],"for":[21,115],"an":[22],"n":[23],"degree":[24],"of":[25,34,129,157],"freedoms":[26],"(n-DOF)":[27],"serial":[28,150],"hydraulic":[29,151],"manipulator":[30,60,152],"under":[31],"the":[32,43,68,82,87,94,109,116,121,130,155,158],"presence":[33],"matched":[35,75],"mismatched":[37,77],"uncertainties":[38,78],"sensor":[40,88],"faults":[41,89],"in":[42],"constrained":[44],"framework.":[45],"These":[46],"faulty":[47,113],"signals,":[48],"generated":[49],"from":[50],"unknown":[51],"constant":[52],"or":[53],"time-variant":[54],"offset":[55],"values,":[56],"happen":[57],"both":[59,74],"joint":[61],"angles":[62],"force":[64,122],"sensors;":[65],"thereby":[66],"degrading":[67],"system":[69,83,110],"performance.":[70,126],"Therefore,":[71],"to":[72,86,107,119,153],"address":[73],"signal":[80],"faults,":[81],"dynamics":[84],"subjects":[85],"is":[90,105,134],"mathematically":[91],"modeled.":[92],"Then,":[93],"robust":[95],"fault":[96,160],"estimation":[97,161],"extended":[101],"observer":[103],"(ESO)":[104],"proposed":[106,131,159],"estimate":[108],"signals":[114],"FTC":[117,163],"design":[118],"achieve":[120],"position":[124],"tracking":[125],"System":[127],"stability":[128],"scheme":[133],"theoretically":[135],"proven":[136],"by":[137],"performing":[138],"Lyapunov":[139],"theorems.":[140],"Finally,":[141],"comparative":[142],"simulation":[143],"results":[144],"are":[145],"given":[146],"3-DOF":[149],"evaluate":[154],"effectiveness":[156],"methodology.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-05-04T08:30:34.212998","created_date":"2025-10-10T00:00:00"}
