Robust Fault-Tolerant Control of an Electro-Hydraulic Actuator With a Novel Nonlinear Unknown Input Observer
Open accessAbstract
In this paper, a novel adaptive fault-tolerant controller is proposed for a typical electro-hydraulic rotary actuator in the presence of disturbances, internal leakage fault, and sensor fault simultaneously. To construct the suggested controller, a nonlinear unknown input observer is developed to effectively identify the sensor fault, which is unaffected by not only internal leakage fault but also mismatched disturbances/uncertainties. Furthermore, a radial basis function neural network is designed to compensate for the mismatched disturbances/uncertainties caused by payload variation and unknown friction nonlinearities. Besides, an adaptive law based on the projection mapping function is applied to tackle the effect of the internal leakage fault. The integration of the above-mentioned techniques into the adaptive backstepping terminal sliding mode is investigated to obtain high tracking performance, robustness as well as fast convergence. The stability of the closed-loop system is proven by the Lyapunov theory. Finally, the capability and effectiveness of the proposed approach are validated via simulation results under various faulty scenarios.
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In [21, 24, 25], authors are only interested to position sensor fault identification for EHSS.
“In [21, 24, 25], authors are only interested to position sensor fault identification for EHSS.”
From Fault-tolerant control for an electro-hydraulic servo system with sensor fault compensation and disturbance rejection (2023) · cites this paper as [25]
Section III says the paper identifies position-sensor faults, but it also develops a fault-tolerant controller to address mismatched disturbances and an adaptive law to handle internal leakage faults. The Introduction likewise describes these as simultaneous concerns. Thus, the claim that the authors are *only* interested in position-sensor fault identification is contrary to the source. (LLM, conf=0.88)
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Flagged first, then by citations
Research works printed but not linked: 2
- J. Control, Autom. Syst., vol. 17, no. 9, pp. 2365-2374, Sep. 2019.
- KYOUNG KWAN AHN (Senior Member, IEEE) received the B.S. degree from the Department of Mechanical Engineering, Seoul National Uni- versity, in 1990, the M.Sc. degree in mechanical engineering from the Korea Advanced Institute of Science and Technology (KAIST), in 1992, and the Ph.D. degree from the Tokyo Institute of Tech- nology, in 1999. Since 2000, he has been with the School of Mechanical Engineering, University of Ulsan, where he is currently a Professor and the Director of the Fluid Power Control and Machine Intelligence Laboratory. His main research interests include fluid based triboelectric nano generator, modeling and control of fluid power systems, energy saving construction machine, hydraulic robot, and power transmission in the ocean energy. He is the author or coauthor of over 190 SCI(E) papers and four books in these areas. He serves as an Editor for the International Journal of Control, Automation and Systems. He serves as an Editorial Board of renewable energy, Korean fluid power and construction machine, actuators, and so on.
Cited by
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Phan, V. D., & Ahn, K. K. (2023) · Nonlinear Dynamics · doi:10.1007/s11071-023-08364-3 · Cited by 58 · see citing works
“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.”
BackgroundMethodInfluentialSelf-citationPhan, V. D., Vo, C. P., Dao, H. V., & Ahn, K. K. (2021) · IEEE Access · doi:10.1109/access.2021.3101038 · Cited by 44 · see citing works
Self-citationPhan, V. D., Truong, H. V. A., Le, V. C., Ho, S. P., & Ahn, K. K. (2025) · Scientific Reports · doi:10.1038/s41598-025-86583-x · Cited by 21 · see citing works
Self-citationOptimized-Based Fault-Tolerant Control of an Electro-Hydraulic System with Disturbance Rejection
Phan, V. D., & Ahn, K. K. (2022) · Applied Sciences · doi:10.3390/app12189197 · Cited by 17 · see citing works
Self-citationLi, J., Li, W., & Du, X. (2024) · International Journal of Robust and Nonlinear Control · doi:10.1002/rnc.7407 · Cited by 11 · see citing works
Du Phan, V., & Ahn, K. K. (2022) · 2022 13th Asian Control Conference (ASCC) · doi:10.23919/ascc56756.2022.9828109 · Cited by 6 · see citing works
Self-citationBackstepping Control of an Electro-Hydraulic Actuator using Kalman Filter
Phan, V. D., Trinh, H.-A., & Ahn, K. K. (2023) · 2023 26th International Conference on Mechatronics Technology (ICMT) · doi:10.1109/icmt59920.2023.10373652 · Cited by 4 · see citing works
Self-citationObserver-based Fault-Tolerant Control of an Electro-Hydraulic Actuator with mismatched disturbance
Phan, V. D., & Ahn, K. K. (2021) · 2021 24th International Conference on Mechatronics Technology (ICMT) · doi:10.1109/icmt53429.2021.9687272 · Cited by 2 · see citing works
Self-citation
- Authors
- Phan, V. D., Vo, C. P., Dao, H. V., & Ahn, K. K.
- Affiliations
- University of Ulsan (KR)
- Venue
- IEEE Access
- Published
- 2021
- Volume
- 9
- Pages
- 30750-30760
- ISSN
- 2169-3536 (ISSN-L)
- OpenAlex
- W3129392980
- Cited by
- 58
- References
- 58
- Citations by year
- 2026: 6 · 2025: 14 · 2024: 7 · 2023: 13 · 2022: 10 · 2021: 8
- FWCI
- 4.06
- Type
- journal article
- Language
- en
- Open access
- gold
- doi.org
- Locations
- IEEE Access (publishedVersion, cc-by)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion, cc-by-sa)
- Funders
- Basic Science Research Program through the National Research Foundation of Korea
- Ministry of Science and ICT, South Korea (NRF-2020R1A2B5B03001480)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Hydraulic and Pneumatic Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Keywords
- fault-tolerant control, electro-hydraulic actuator, rotary actuator, sensor fault estimation, mismatched disturbances, radial basis function neural network, friction compensation, adaptive backstepping control, terminal sliding mode, projection mapping, payload variation, Lyapunov stability
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