Chen, Lejun;
Spurgeon, Sarah;
Jiang, Bin;
(2025)
Actuator fault estimation for a class of Euler-Lagrange Systems using Super-twisting Observers.
IEEE Transactions on Automation Science and Engineering
10.1109/tase.2025.3604035.
(In press).
Preview |
Text
Actuator_fault_estimation_for_a_class_of_Euler-Lagrange_Systems_using_Super-twisting_Observers.pdf - Accepted Version Download (1MB) | Preview |
Abstract
This paper develops an adaptive actuator fault estimation scheme for a class of Euler-Lagrange systems with relative degree two, which allows the loss of actuator effectiveness and generalised velocities to be estimated. In particular, a super-twisting observer is created for Euler-Lagrange systems with multiple degrees of freedom and the ‘equivalent output error injection’ signals, associated with the super-twisting sliding motion, are exploited to reconstruct the loss of effectiveness for all the actuators in an adaptive sense. The proposed scheme is then applied to a six-link underactuated snake robot model and the simulation results demonstrate the efficacy of the scheme.
| Type: | Article |
|---|---|
| Title: | Actuator fault estimation for a class of Euler-Lagrange Systems using Super-twisting Observers |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/tase.2025.3604035 |
| Publisher version: | https://doi.org/10.1109/tase.2025.3604035 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Sliding mode observers, Fault diagnosis, Euler-Lagrange systems, snake robots, Fault tolerant control |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10213132 |
Archive Staff Only
 |
View Item |
