An Unknown Input Observer–EFIR Combined Estimator for Electrohydraulic Actuator in Sensor Fault-Tolerant Control Application
Open accessAbstract
This article presents a novel unknown input observer (UIO)-integrated extended finite impulse response (EFIR) estimator and its application for an effective sensor fault-tolerant control (FTC) of an electrohydraulic actuator (EHA). The proposed estimator exploits the UIO structure in the EFIR filter. Thus, it requires only a small amount of historical data (N) while ensuring the following: 1) sensor fault and system state estimation accuracy under time-correlated noise; 2) the number of estimator design parameters is significantly minimized; and 3) robust residual generation. A Lyapunov-stability-based theory is carried out to study its convergence condition. Next, an EHA-based test rig has been set up, and sensor FTC is performed by carrying this estimator as part of a fault diagnosis algorithm to evaluate its performance by both simulation and real-time experiments. Results highlight that under optimal setting (N = Nopt), the estimator performance is near accurate to the very well developed extended-Kalman-filter-based UIO in undisturbed conditions but significantly outperforms when dealing with time-correlated noise under the same control environment. The estimator also shows its robustness under below-optimal setting (downgrading Noptby 50%) while performing sensor FTC in real time.
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Cites
A Mathematical Introduction to Robotic Manipulation
Murray, R. M., Li, Z., & Sastry, S. (2017) · CRC Press eBooks · doi:10.1201/9781315136370 · Cited by 6,698 · see citing works
Design of unknown input observers and robust fault detection filters
Chen, J., Patton, R. J., & Zhang, H. (1996) · International Journal of Control · doi:10.1080/00207179608921833 · Cited by 838 · see citing works
Yao, J., Jiao, Z., & Ma, D. (2014) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2014.2304912 · Cited by 713 · see citing works
Liu, L., Liu, Y., & Tong, S. (2018) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2018.2828308 · Cited by 481 · see citing works
Switching between stabilizing controllers
Hespanha, J. P., & Morse, A. S. (2002) · Automatica · doi:10.1016/s0005-1098(02)00139-5 · Cited by 451 · see citing works
Deng, W., & Yao, J. (2019) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2019.2959297 · Cited by 278 · see citing works
Observing the states of systems with unmeasurable disturbances
Wang, S.-H., Wang, E., & Dorato, P. (1975) · IEEE Transactions on Automatic Control · doi:10.1109/tac.1975.1101076 · Cited by 267 · see citing works
Liu, L., Liu, Y., Li, D., Tong, S., & Wang, Z. (2019) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2019.2931770 · Cited by 217 · see citing works
Wang, Z., Shi, P. J., & Lim, C. (2017) · Automatica · doi:10.1016/j.automatica.2017.08.021 · Cited by 215 · see citing works
An Iterative Kalman-Like Algorithm Ignoring Noise and Initial Conditions
Shmaliy, Y. S. (2011) · IEEE Transactions on Signal Processing · doi:10.1109/tsp.2011.2129516 · Cited by 204 · see citing works
Wu, Y., Jiang, B., & Wang, Y. (2019) · ISA Transactions · doi:10.1016/j.isatra.2019.09.020 · Cited by 204 · see citing works
Wu, Y., Jiang, B., & Lu, N. (2017) · IEEE Transactions on Systems Man and Cybernetics Systems · doi:10.1109/tsmc.2017.2757264 · Cited by 198 · see citing works
Fault Estimation Sliding-Mode Observer With Digital Communication Constraints
Liu, M., Zhang, L., Shi, P. J., & Zhao, Y. (2018) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2018.2794826 · Cited by 178 · see citing works
Wang, Z., Liu, L., & Zhang, H. (2017) · IEEE Transactions on Systems Man and Cybernetics Systems · doi:10.1109/tsmc.2017.2672664 · Cited by 163 · see citing works
Robust Sensors-Fault-Tolerance With Sliding Mode Estimation and Control for PMSM Drives
Kommuri, S. K., Lee, S. B., & Veluvolu, K. C. (2018) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2017.2783888 · Cited by 140 · see citing works
Fast Kalman-Like Optimal Unbiased FIR Filtering With Applications
Zhao, S., Shmaliy, Y. S., & Liu, F. (2016) · IEEE Transactions on Signal Processing · doi:10.1109/tsp.2016.2516960 · Cited by 134 · see citing works
Salahshoor, K., Mosallaei, M., & Bayat, M. (2008) · Measurement · doi:10.1016/j.measurement.2008.02.009 · Cited by 128 · see citing works
Suboptimal FIR Filtering of Nonlinear Models in Additive White Gaussian Noise
Shmaliy, Y. S. (2012) · IEEE Transactions on Signal Processing · doi:10.1109/tsp.2012.2205569 · Cited by 87 · see citing works
Yang, X., Zheng, X., & Chen, Y. (2017) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2017.2746142 · Cited by 80 · see citing works
Qin, A., Hu, Q., Lv, Y., & Zhang, Q. (2018) · IEEE Sensors Journal · doi:10.1109/jsen.2018.2885377 · Cited by 68 · see citing works
Alzghoul, A. M., Backe, B., Löfstrand, M., Byström, A., & Liljedahl, B. (2014) · Computers in Industry · doi:10.1016/j.compind.2014.06.003 · Cited by 63 · see citing works
Gautam, S., Tamboli, P. K., Roy, K., Patankar, V. H., & Duttagupta, S. P. (2019) · ISA Transactions · doi:10.1016/j.isatra.2019.02.011 · Cited by 61 · see citing works
Fault detection and identification method using observer-based residuals
Jeong, H., Park, B. S., Park, S., Min, H., & Lee, S. (2018) · Reliability Engineering & System Safety · doi:10.1016/j.ress.2018.02.007 · Cited by 60 · see citing works
Adaptive Fault-Tolerant Consensus Protocols for Multiagent Systems With Directed Graphs
Wang, Z., Wu, Y., Liu, L., & Zhang, H. (2018) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2018.2859421 · Cited by 57 · see citing works
An optimizing method of RBF neural network based on genetic algorithm
Ding, S., Xu, L., Su, C., & Jin, F. (2011) · Neural Computing and Applications · doi:10.1007/s00521-011-0702-7 · Cited by 55 · see citing works
Robust and accurate UWB‐based indoor robot localisation using integrated EKF/EFIR filtering
Xu, Y., Shmaliy, Y. S., Ahn, C. K., Tian, G., & Chen, X. (2018) · IET Radar Sonar & Navigation · doi:10.1049/iet-rsn.2017.0461 · Cited by 53 · see citing works
Asl, R. M., Hagh, Y. S., Simani, S., & Handroos, H. (2019) · Mechanical Systems and Signal Processing · doi:10.1016/j.ymssp.2019.07.021 · Cited by 53 · see citing works
Combined extended FIR/Kalman filtering for indoor robot localization via triangulation
Pomarico-Franquiz, J. J., Khan, S. H., & Shmaliy, Y. S. (2014) · Measurement · doi:10.1016/j.measurement.2013.12.045 · Cited by 47 · see citing works
Reset control for synchronization of multi-agent systems
Meng, X., Xie, L., & Soh, Y. C. (2019) · Automatica · doi:10.1016/j.automatica.2019.02.042 · Cited by 45 · see citing works
Sensor Fault Detection and Diagnosis of a Process Using Unknown Input Observer
Zarei, J., & Poshtan, J. (2011) · Mathematical and Computational Applications · doi:10.3390/mca16010031 · Cited by 41 · see citing works
Fault diagnosis of hydraulic system in large forging hydraulic press
Fu, X., Liu, B., Zhang, Y., & Lian, L.-N. (2013) · Measurement · doi:10.1016/j.measurement.2013.12.010 · Cited by 40 · see citing works
Modeling and fault tolerant control of an electro-hydraulic actuator
Nahian, S. A., Truong, D. Q., Chowdhury, P., Das, D., & Ahn, K. K. (2016) · International Journal of Precision Engineering and Manufacturing · doi:10.1007/s12541-016-0153-2 · Cited by 38 · see citing works
Self-citationDistributed fault detection for nonlinear multi-agent systems under fixed-time observer
Wu, Y., Wang, Z., & Huang, Z. (2019) · Journal of the Franklin Institute · doi:10.1016/j.jfranklin.2019.06.015 · Cited by 31 · see citing works
Fault Detection And Isolation Using Unknown Input Observers With Structured Residual Generation
Sobhani, M. H. (2012) · International Journal of Instrumentation and Control Systems · doi:10.5121/ijics.2012.2201 · Cited by 28 · see citing works
Homaeinezhad, M. R., & Yaqubi, S. (2020) · Applied Soft Computing · doi:10.1016/j.asoc.2020.106265 · Cited by 20 · see citing works
Zhang, K., Jiang, B., Tao, G., & Chen, F. (2017) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2017.2735360 · Cited by 18 · see citing works
Schwung, A., Beck, M., & Adamy, J. (2015) · Fuzzy Sets and Systems · doi:10.1016/j.fss.2015.04.006 · Cited by 17 · see citing works
Halder, P. (2014) · Cited by 6 · see citing works
Li, Y., & Zhong, M. (2015) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2015.09.609 · Cited by 6 · see citing works
Flagged first, then by citations
1 of the 40 references couldn’t be matched to a known paper.
Research works printed but not linked: 1
- Y. Li, M. Zhong, "Fault estimation for discrete-time singular systems with random sensor failures.", IFAC-PapersOnLine, vol. 48, no. 21, pp. 701-706, 2015.
Cited by
Sorted by citations
Wang, J., Pan, H., & Sun, W. (2021) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2021.3075478 · Cited by 65 · see citing works
Phan, V. D., & Ahn, K. K. (2023) · Nonlinear Dynamics · doi:10.1007/s11071-023-08364-3 · Cited by 58 · see citing works
“Reference [22] investigated an UIO-integrated extended finite impulse response to solve multi-sensor fault but the matched, unmatched disturbance were also neglected.”
BackgroundSelf-citationPhan, V. D., Vo, C. P., Dao, H. V., & Ahn, K. K. (2021) · IEEE Access · doi:10.1109/access.2021.3059947 · Cited by 58 · see citing works
Self-citationDistributed Robust Fault Estimation for Multiagent Systems Based on Transition Variable Estimator
Shi, J., Chen, C., Shen, M., & Li, L. (2023) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2023.3241406 · Cited by 43 · see citing works
Dao, H. V., Tran, D. T., & Ahn, K. K. (2021) · IEEE Access · doi:10.1109/access.2021.3053596 · Cited by 39 · see citing works
Self-citationWang, T., Lu, M., Zhu, X., & Patton, R. J. (2021) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2021.3087193 · Cited by 24 · see citing works
Hu, Y., Song, Y., He, X., Zhao, X., Yang, X., Yao, J., Wang, Z., Pei, H., & Hu, C. (2025) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2025.3563047 · Cited by 20 · see citing works
Truong, H. V. A., Trinh, H.-A., Tran, D. T., & Ahn, K. K. (2021) · IEEE Access · doi:10.1109/access.2021.3087505 · Cited by 18 · see citing works
Self-citationRobust State and Unknown Input Estimator and Its Application to Robot Localization
Patil, P. V., Kumaran, K., Vachhani, L., Ravitharan, S., & Chauhan, S. (2022) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2022.3166030 · Cited by 18 · see citing works
Zhang, C., Wang, W., Chen, Z., Fan, B., Jian-guo, W., Gu, F., & Xue, Y. (2021) · Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science · doi:10.1177/09544062211016505 · Cited by 17 · see citing works
Li, H., Zhou, B., & Michiels, W. (2023) · IEEE Transactions on Systems Man and Cybernetics Systems · doi:10.1109/tsmc.2023.3320091 · Cited by 10 · see citing works
Houda, K., Saifia, D., Chadli, M., & Labiod, S. (2022) · Mathematics and Computers in Simulation · doi:10.1016/j.matcom.2022.06.013 · Cited by 9 · see citing works
Zhao, Y., Qiu, C. J., Huang, J., Tan, Q., Sun, S., & Gong, Z. (2024) · Actuators · doi:10.3390/act13040145 · Cited by 8 · see citing works
Truong, H. V. A., & Chung, W. K. (2025) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2025.3599177 · Cited by 8 · see citing works
Yu, Z., Liu, C., Wang, X., & Ren, X. (2023) · International Journal of Adaptive Control and Signal Processing · doi:10.1002/acs.3559 · Cited by 7 · 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-citationZhang, J., Wang, D., Ding, R., Chen, Z., Yang, C., Xu, B., & Cheng, M. (2024) · Measurement · doi:10.1016/j.measurement.2024.115707 · Cited by 5 · see citing works
Wu, Q., Liu, Z., An, F., & Liu, B. (2021) · Actuators · doi:10.3390/act10120315 · Cited by 5 · see citing works
Observer-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-citationWang, G., Zhou, Y., Ma, W., Wang, P., Yang, M., & Yang, S. (2025) · Ocean Engineering · doi:10.1016/j.oceaneng.2025.123402 · Cited by 2 · see citing works
Truong, H. V. A., & Chung, W. K. (2026) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2026.3689600 · Cited by 3 · see citing works
Global identification and compensation of nonlinear variable load for an electrohydraulic system
Sun, W., Sang, Y., Duan, F., & Hu, W. (2022) · Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science · doi:10.1177/09544062211069317 · Cited by 2 · see citing works
A Fault-Detection Method of MEMS Micromirrors with Hysteresis *
Tan, Y., Li, X., Ke, C., Dong, R., Ya, G., & Tan, Q. (2024) · International Conference on Control and Automation · doi:10.1109/icca62789.2024.10591867 · Cited by 2 · see citing works
Shahna, M. H., Mustalahti, P., & Mattila, J. (2025) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim64088.2025.11175897 · Cited by 2 · see citing works
2020 Index IEEE/ASME Transactions on Mechatronics Vol. 25
(2020) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2021.3049586
Li, Y., Wang, J., & Dong, J. (2025) · Journal of the Franklin Institute · doi:10.1016/j.jfranklin.2025.107859
Fuzzy Logic-Based Fault Diagnosis for Independent Metering Control Systems
Wang, Y., Ding, R., Chen, D., Huang, W., Liu, J., Qi, H., & Xu, B. (2026) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2026.3657515
Zhang, R., & Li, Y. (2026) · Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering · doi:10.1177/09544100261437215
Dinh, T.-P., Nguyen, D.-H., Nguyen, T.-L., & Nguyen, V.-A. (2026) · European Journal of Control · doi:10.1016/j.ejcon.2026.101627
Self-citation
- Authors
- Nahian, S. A., Dinh, T. Q., Dao, H. V., & Ahn, K. K.
- Affiliations
- University of Warwick (GB)
- University of Ulsan (KR)
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2020-10
- Volume
- 25
- Issue
- 5
- Pages
- 2208-2219
- ISSN
- 1083-4435 (ISSN-L)
- 1941-014X
- OpenAlex
- W3047138371
- Cited by
- 29
- References
- 40
- Citations by year
- 2026: 4 · 2025: 5 · 2024: 3 · 2023: 4 · 2022: 4 · 2021: 8 · 2020: 1
- FWCI
- 2.10
- Type
- journal article
- Language
- en
- Open access
- bronze
- doi.org
- Licence
- Locations
- IEEE/ASME Transactions on Mechatronics (publishedVersion)
- Warwick Research Archive Portal (University of Warwick) (acceptedVersion)
- Funders
- Basic Science Program
- National Research Foundation of Korea
- Ministry of Science and ICT, South Korea (NRF-2020R1A2B5B03001480)
- Warwick Manufacturing Group
- University of Warwick
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Fault Detection and Control Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Control Systems and Identification
- Physical Sciences › Engineering › Mechanical Engineering › Hydraulic and Pneumatic Systems
- Keywords
- unknown input observer, electro-hydraulic actuator, sensor fault-tolerant control, fault diagnosis, residual generation, time-correlated noise, Lyapunov stability, estimator convergence, state estimation, real-time fault diagnosis
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
