{"id":"https://openalex.org/W2967969268","doi":"https://doi.org/10.23919/ecc.2019.8796231","title":"Fault Diagnosis for Robot Manipulators via Vision Servoing Based Suboptimal Second Order Sliding Mode","display_name":"Fault Diagnosis for Robot Manipulators via Vision Servoing Based Suboptimal Second Order Sliding Mode","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2967969268","doi":"https://doi.org/10.23919/ecc.2019.8796231","mag":"2967969268"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2019.8796231","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2019.8796231","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 18th European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11311/1102054","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066287429","display_name":"Gian Paolo Incremona","orcid":"https://orcid.org/0000-0003-1974-5646"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gian Paolo Incremona","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073649425","display_name":"Antonella Ferrara","orcid":"https://orcid.org/0000-0002-1977-8248"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonella Ferrara","raw_affiliation_strings":["Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1686,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.48073174,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3090","last_page":"3095"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9998999834060669,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.996399998664856,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.983299970626831,"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":0.7596359252929688},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7168250679969788},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7026753425598145},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.6454837918281555},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5507593154907227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49295616149902344},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4668748080730438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4483915865421295},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.4145898222923279},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.41208183765411377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35706645250320435},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09303975105285645}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7596359252929688},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7168250679969788},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7026753425598145},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.6454837918281555},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5507593154907227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49295616149902344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4668748080730438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4483915865421295},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.4145898222923279},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.41208183765411377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35706645250320435},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09303975105285645},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc.2019.8796231","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2019.8796231","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 18th European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1102054","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1102054","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:re.public.polimi.it:11311/1102054","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1102054","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W159604569","https://openalex.org/W580979487","https://openalex.org/W1516289514","https://openalex.org/W1540055967","https://openalex.org/W1654016072","https://openalex.org/W1971832875","https://openalex.org/W1982617281","https://openalex.org/W1984961415","https://openalex.org/W2005970795","https://openalex.org/W2010276843","https://openalex.org/W2024687646","https://openalex.org/W2054127377","https://openalex.org/W2054644575","https://openalex.org/W2076323680","https://openalex.org/W2082323100","https://openalex.org/W2109747166","https://openalex.org/W2111018365","https://openalex.org/W2113265921","https://openalex.org/W2132029223","https://openalex.org/W2134391845","https://openalex.org/W2135663228","https://openalex.org/W2156541152","https://openalex.org/W2170133847","https://openalex.org/W2265937691","https://openalex.org/W2292691653","https://openalex.org/W2520654854","https://openalex.org/W2590307769","https://openalex.org/W3147702646","https://openalex.org/W4239022440","https://openalex.org/W4249625715"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2169474978","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W2185997459","https://openalex.org/W4241247100"],"abstract_inverted_index":{"This":[0,156],"paper":[1,51],"deals":[2],"with":[3],"the":[4,18,22,50,52,81,84,102,109,130,134,137,154,175,178],"formulation":[5],"of":[6,17,34,47,54,71,80,83,89,94,120,129,169,177],"a":[7,32,72,87,126,148,162],"fault":[8,67,138,163],"diagnosis":[9,68,139],"strategy":[10,69,166],"for":[11],"industrial":[12,192],"robotic":[13,27,193],"manipulators.":[14],"The":[15,65,111,172],"core":[16],"proposed":[19,66],"scheme":[20],"is":[21,31,63,151],"inverse":[23],"dynamics-based":[24],"feedback":[25],"linearized":[26,35],"MIMO":[28],"system,":[29],"that":[30],"set":[33,46,88],"decoupled":[36],"SISO":[37],"systems":[38],"affected":[39],"by":[40],"uncertain":[41],"terms.":[42],"Relying":[43],"on":[44,108,190],"this":[45],"systems,":[48],"in":[49,118,153,167,186],"problem":[53],"detecting":[55],"and":[56,60,86,105,122,145,174,188],"isolating":[57],"both":[58,185],"sensor":[59,144,150,157,170],"actuator":[61,146],"faults":[62],"considered.":[64],"consists":[70],"vision":[73,149],"based":[74],"logic,":[75],"to":[76,100,136,141,160],"detect":[77],"possible":[78],"malfunctions":[79],"sensors":[82],"robot,":[85],"Unknown":[90],"Input":[91],"Observers":[92],"(UIOs)":[93],"second":[95],"order":[96],"sliding":[97,112],"mode":[98,113],"type,":[99],"perform":[101],"Fault":[103],"Detection":[104],"Isolation":[106],"(FDI)":[107],"actuators.":[110],"approach":[114],"provides":[115],"good":[116],"performance":[117],"terms":[119],"stability":[121],"robustness,":[123],"while":[124],"guaranteeing":[125],"satisfactory":[127],"estimate":[128],"faults.":[131,171],"To":[132],"give":[133],"possibility":[135],"system":[140],"distinguish":[142],"between":[143],"faults,":[147],"used":[152],"scheme.":[155],"also":[158],"allows":[159],"design":[161],"tolerant":[164],"control":[165],"case":[168],"verification":[173],"validation":[176],"present":[179],"proposal":[180],"have":[181],"been":[182],"carried":[183],"out,":[184],"simulation":[187],"experimentally,":[189],"an":[191],"manipulator.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
