{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T04:22:37Z","timestamp":1775017357881,"version":"3.50.1"},"reference-count":39,"publisher":"Pleiades Publishing Ltd","issue":"8","license":[{"start":{"date-parts":[[2020,12,1]],"date-time":"2020-12-01T00:00:00Z","timestamp":1606780800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2020,12,1]],"date-time":"2020-12-01T00:00:00Z","timestamp":1606780800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Program Comput Soft"],"published-print":{"date-parts":[[2020,12]]},"DOI":"10.1134\/s0361768820080216","type":"journal-article","created":{"date-parts":[[2020,12,22]],"date-time":"2020-12-22T07:03:01Z","timestamp":1608620581000},"page":"679-688","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Fault Identification in Mobile Robot Groups Using Sliding Mode Observers"],"prefix":"10.1134","volume":"46","author":[{"given":"O.","family":"Sergiyenko","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Zhirabok","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"137","published-online":{"date-parts":[[2020,12,22]]},"reference":[{"key":"3558_CR1","volume-title":"Mobile Robotics","author":"L. Jaulin","year":"2015","unstructured":"Jaulin, L., Mobile Robotics, 1st ed., ISTE Press-Elsevies, 2015."},{"key":"3558_CR2","unstructured":"Klancar, G., Adezar, A., Blazic, S., and Skrjanc, I., Wheeled Mobile Robots: from Fundamentals towards Autonomous Systems, Elsevier\/Butterwoth-Heinemann, 2017."},{"key":"3558_CR3","doi-asserted-by":"publisher","first-page":"709","DOI":"10.1007\/s10846-008-9285-7","volume":"54","author":"G. Klancar","year":"2017","unstructured":"Klancar, G., Matko, D., andBlazic, S., Wheeled mobile robots control in a linear platoon, J. Intell. Rob. Syst., 2017, vol. 54, pp. 709\u2013731.","journal-title":"J. Intell. Rob. Syst."},{"key":"3558_CR4","doi-asserted-by":"publisher","first-page":"557","DOI":"10.1134\/S0361768819080139","volume":"45","author":"M. Ivanov","year":"2019","unstructured":"Ivanov, M., Sergiyenko, O., Tyrsa, V., Lindner, L., Rodriguez- Qui\u00f1onez, J., Flores-Fuentes, W., Rivas-Lopez, M., Hern\u00e1ndez- Balbuena, D., and Nieto Hip\u00f3lito, J., Software advances using n-agents wireless communication integration for optimization of surrounding recognition and robotic group dead reckoning, Program. Comput. Software, 2019, vol. 45, no. 8, pp. 557\u2013569.","journal-title":"Program. Comput. Software"},{"key":"3558_CR5","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1134\/S0361768816030063","volume":"42","author":"V. Osipov","year":"2016","unstructured":"Osipov, V., Automatic synthesis of action programs for intelligent robots, Program. Comput. Software, 2016, vol. 42, pp. 155\u2013160.","journal-title":"Program. Comput. Software"},{"key":"3558_CR6","doi-asserted-by":"publisher","first-page":"213","DOI":"10.1134\/S0361768818040126","volume":"44","author":"D. Zhdanov","year":"2018","unstructured":"Zhdanov, D., Galaktionov, V., Voloboy, A., Zhdanov, A.D., Garbul\u2019, A.A., Potemin, I.S., and Sokolov, V.G., Photorealistic rendering of images formed by augmented reality optical systems, Program. Comput. Software, 2018, vol. 44, pp. 213\u2013224.","journal-title":"Program. Comput. Software"},{"key":"3558_CR7","doi-asserted-by":"publisher","first-page":"309","DOI":"10.1134\/S0361768813060066","volume":"39","author":"A. Yarygina","year":"2013","unstructured":"Yarygina, A., Execution and optimization techniques for approximate queries in heterogeneous systems, Program. Comput. Software, 2013, vol. 39, pp. 309\u2013317.","journal-title":"Program. Comput. Software"},{"key":"3558_CR8","doi-asserted-by":"publisher","first-page":"250","DOI":"10.1134\/S0361768814050028","volume":"40","author":"G. Bezmen","year":"2014","unstructured":"Bezmen, G. and Kolesov, N., Program models for diagnosis of information control systems, Program. Comput. Software, 2014, vol.40, pp. 250\u2013258.","journal-title":"Program. Comput. Software"},{"key":"3558_CR9","doi-asserted-by":"publisher","first-page":"532","DOI":"10.1108\/IR-11-2016-0297","volume":"44","author":"L. Lindner","year":"2017","unstructured":"Lindner, L., Sergiyenko, O., Rivas-Lopez, M., Hernandez-Balbuena, D., Flores-Fuentes, W., Rodr\u00edguez-Qui\u00f1onez, J.C., Murrieta-Rico, F.N., Ivanov, M., Tyrsa, V., and Basaca, L.C., Exact laser beam positioning for measurement of vegetation vitality, Ind. Rob.: Int. J., 2017, vol. 44, no. 4, pp. 532\u2013541.","journal-title":"Ind. Rob.: Int. J."},{"key":"3558_CR10","doi-asserted-by":"publisher","first-page":"414","DOI":"10.3103\/S8756699011050037","volume":"46","author":"O. Yu. Sergiyenko","year":"2010","unstructured":"Sergiyenko, O. Yu., Optoelectronic system for mobile robot navigation, Optoelectron., Instrum. Data Process., 2010, vol. 46, no. 5, pp. 414\u2013428.","journal-title":"Optoelectron., Instrum. Data Process"},{"key":"3558_CR11","doi-asserted-by":"publisher","first-page":"251","DOI":"10.1016\/j.robot.2016.04.003","volume":"83","author":"O.Yu. Sergiyenko","year":"2016","unstructured":"Sergiyenko, O.Yu., Ivanov, M.V., Tyrsa, V.V., Kartashov, V.M., Rivas-L\u00f3pez, M., Hern\u00e1ndez-Balbuena, D., Flores-Fuentes, W., Rodr\u00edguez-Qui\u00f1onez, J.C., Nieto-Hip\u00f3lito, J.I., Hernandez, W., and Tchernykh, A., Data transferring model determination in robotic group, Rob. Auton. Syst., 2016, vol. 83, pp. 251\u2013260.","journal-title":"Rob. Auton. Syst"},{"key":"3558_CR12","doi-asserted-by":"crossref","unstructured":"Reyes-Garc\u00eda, M., Sergiyenko, O., Ivanov, M., Lindner, L., Rodr\u00edguez-Qui\u00f1onez, J.C., Hernandez-Balbuena, D., Flores-Fuentes, W., Tyrsa, V., Moreno-Ahedo, L.O., and Murrieta-Rico, F.N., Defining the final angular position of DC motor shaft using a trapezoidal trajectory profile, Proc. 28th IEEE Int. Symp. on Industrial Electronics (ISIE2019), Vancouver, June 12\u201314, 2019, pp. 1694\u20131699.","DOI":"10.1109\/ISIE.2019.8781093"},{"key":"3558_CR13","doi-asserted-by":"crossref","unstructured":"Sep\u00falveda-Valdez, C.A., Sergiyenko, O., Hernandez-Balbuena, D., Tyrsa, V., Mercorelli, P., Flores-Fuentes, W., Reyez-Garc\u00eda, M., Lindner, L., and Melnik, V., Circular scanning resolution improvement by its velocity close loop control, Proc. 28th IEEE Int. Symp. on Industrial Electronics (ISIE2019), Vancouver, June 12\u201314, 2019, pp. 244\u2013249.","DOI":"10.1109\/ISIE.2019.8781135"},{"key":"3558_CR14","doi-asserted-by":"publisher","first-page":"5941","DOI":"10.1109\/TIE.2015.2435002","volume":"62","author":"M. Ruderman","year":"2015","unstructured":"Ruderman, M. and Iwasaki, M., Observer of nonlinear friction dynamics for motion control, IEEE Trans. Ind. Electron., 2015, vol. 62, no. 9, pp. 5941\u20135949.","journal-title":"IEEE Trans. Ind. Electron."},{"key":"3558_CR15","unstructured":"Sergienko, O.Yu. and Pavlov, S.P., Analysis of the natureof the atomic-molecular interaction of the friction surfaces, Vestn. Nats. Tekhn. Univ.: Kharkov. Politechn. Inst., 2002, vol. 1, no. 6, pp. 39\u201343."},{"key":"3558_CR16","volume-title":"Diagnosis and Fault-Tolerant Control","author":"M. Blanke","year":"2006","unstructured":"Blanke, M., Kinnaert, M., Lunze, J., and Staroswiecki, M., Diagnosis and Fault-Tolerant Control, Berlin: Springer-Verlag, 2006."},{"key":"3558_CR17","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-6410-4","volume-title":"Data-Driven Design of Fault Diagnosis and Fault-Tolerant Control Systems","author":"S. Ding","year":"2014","unstructured":"Ding, S., Data-Driven Design of Fault Diagnosis and Fault-Tolerant Control Systems, London: Springer-Verlag, 2014."},{"key":"3558_CR18","doi-asserted-by":"publisher","first-page":"658","DOI":"10.1016\/j.conengprac.2011.03.002","volume":"19","author":"I. Samy","year":"2011","unstructured":"Samy, I., Postlethwaite, I., and Gu, D., Survey and application of sensor fault detection and isolation schemes, Control Eng. Pract., 2011, vol. 19, pp. 658\u2013674.","journal-title":"Control Eng. Pract"},{"key":"3558_CR19","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-84379-2","volume-title":"Sliding Modes in Control Optimiztion","author":"V. Utkin","year":"1992","unstructured":"Utkin, V., Sliding Modes in Control Optimiztion, Berlin: Springer, 1992."},{"key":"3558_CR20","doi-asserted-by":"crossref","unstructured":"Chandra, K., Alwi, H., and Edwards, C., Fault reconstruction for a quadrotor using an lpv sliding mode observer, Proc. IFAC Symp. Safeprocess, Paris, 2015, pp. 374\u2013379.","DOI":"10.1016\/j.ifacol.2015.09.555"},{"key":"3558_CR21","doi-asserted-by":"publisher","first-page":"541","DOI":"10.1016\/S0005-1098(99)00177-6","volume":"36","author":"C. Edwards","year":"2000","unstructured":"Edwards, C., Spurgeon, S., and Patton, R., Sliding mode observers for fault detection and isolation, Automatica, 2000, vol. 36, pp. 541\u2013553.","journal-title":"Automatica"},{"key":"3558_CR22","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1002\/rnc.723","volume":"13","author":"C. Tan","year":"2003","unstructured":"Tan, C. and Edwards, C., Sliding mode observers for robust detection and reconstruction of actuator and sensor faults, Int. J. Robust Nonlinear Control, 2003, vol. 13, pp.\u00a0443\u2013463.","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"3558_CR23","doi-asserted-by":"crossref","unstructured":"Tan, C.P. and Edwards, C., Robust fault reconstruction using multiple sliding mode observers in cascade: development and design, Proc. American Control Conf., St. Louis, 2009, pp. 3411\u20133416.","DOI":"10.1109\/ACC.2009.5160176"},{"key":"3558_CR24","doi-asserted-by":"publisher","unstructured":"Zhirabok, A., Zuev, A., and Shumsky, A., Fault diagnosis in linear systems via sliding mode observers, Int. J. Control, 2019, no. 3, pp. 1\u201318. https:\/\/doi.org\/10.1080\/00207179.2019.1590738","DOI":"10.1080\/00207179.2019.1590738"},{"key":"3558_CR25","doi-asserted-by":"publisher","first-page":"362","DOI":"10.1002\/asjc.1359","volume":"19","author":"A. Brahim","year":"2017","unstructured":"Brahim, A., Dhahri, S., Hmida, F., and Sellami, A., Simultaneous actuator and sensor faults reconstruction based on robust sliding mode observer for a class of nonlinear systems, Asian J. Control, 2017, vol. 19, pp.\u00a0362\u2013371.","journal-title":"Asian J. Control"},{"key":"3558_CR26","doi-asserted-by":"crossref","unstructured":"He, J. and Zhang, C., Fault reconstruction based on sliding mode observer for nonlinear systems, Math. Probl. Eng., 2012, no. 6, pp. 1\u201322.","DOI":"10.1155\/2012\/451843"},{"key":"3558_CR27","doi-asserted-by":"publisher","first-page":"1605","DOI":"10.1016\/j.automatica.2007.02.008","volume":"43","author":"X. Yan","year":"2007","unstructured":"Yan, X. and Edwards, C., Nonlinear robust fault reconstruction and estimation using a sliding modes observer, Automatica, 2007, vol. 43, pp. 1605\u20131614.","journal-title":"Automatica"},{"key":"3558_CR28","unstructured":"Chan, J., Tan, C., and Trinh, H., Robust fault reconstruction for a class of infinitely unobservable descriptor systems, Int. J. Syst. Sci., 2017, no. 1, pp. 1\u201310."},{"key":"3558_CR29","doi-asserted-by":"publisher","first-page":"1859","DOI":"10.1016\/j.automatica.2007.10.034","volume":"44","author":"H. Alwi","year":"2008","unstructured":"Alwi, H. and Edwards, C., Fault tolerant control using sliding modes with on-line control allocation, Automatica, 2008, vol. 44, pp. 1859\u20131866.","journal-title":"Automatica"},{"key":"3558_CR30","doi-asserted-by":"publisher","first-page":"109","DOI":"10.2478\/v10006-012-0008-7","volume":"22","author":"C. Edwards","year":"2012","unstructured":"Edwards, C., Alwi, H., and Tan, C., Sliding mode methds for fault detection and fault tolerant control with application to aerospace systems, Int. J. Appl. Math. Comput. Sci., 2012, vol. 22, pp. 109\u2013124.","journal-title":"Int. J. Appl. Math. Comput. Sci."},{"key":"3558_CR31","doi-asserted-by":"crossref","unstructured":"Filaretov, V., Zuev, A., Zhirabok, A., and Protcenko, A., Development of fault identification system for electric servo actuators of multilink manipulators using logic-dynamic approach, J. Control Sci. Eng., 2017, no. 1, pp. 1\u20138.","DOI":"10.1155\/2017\/8168627"},{"key":"3558_CR32","doi-asserted-by":"crossref","unstructured":"Meziane, H., Labarre, C., Lefteriu, S., Defoort, M., and Djemai, M., Fault detection and isolation for a multi-cellular converter based on sliding mode observer, Proc. 9th IFAC Symp. Safeprocess, Paris, 2015, pp.\u00a0164\u2013170.","DOI":"10.1016\/j.ifacol.2015.09.521"},{"key":"3558_CR33","doi-asserted-by":"crossref","unstructured":"Mohamed, M., Yan, X.-G., Spurgeon, S., and Jiang, B., Robust sliding mode observer design for interconnected systems with application to multimachine power systems, Proc. IEEE Conf. on Decision and Control, Las Vegas, 2016, pp. 6246\u20136251.","DOI":"10.1109\/CDC.2016.7799230"},{"key":"3558_CR34","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1016\/j.isatra.2016.04.004","volume":"63","author":"K. Zhang","year":"2016","unstructured":"Zhang, K., Jiang, B., Yan, X., and Mao, Z., Sliding mode observer based incipient sensor fault detection with application to high-speed railway traction device, ISA Trans., 2016, vol. 63, pp. 49\u201359.","journal-title":"ISA Trans"},{"key":"3558_CR35","doi-asserted-by":"crossref","unstructured":"Corradini, M., Orlando, G., and Parlangeli, G., A fault tolerant sliding mode controller for accommodating actuator failures, Proc. 44th IEEE Conf. on Decision and Control, and the European Control Conf., Seville, 2005, pp. 3091\u20133096.","DOI":"10.1109\/CDC.2005.1582636"},{"key":"3558_CR36","doi-asserted-by":"crossref","unstructured":"Edwards, C., Alwi, H., and Tan, C., Sliding mode methods for fault detection and fault tolerant control, Proc. Conf. Control and Fault Tolerant Systems, Nice, 2010, pp. 106\u2013117.","DOI":"10.1109\/SYSTOL.2010.5675944"},{"key":"3558_CR37","doi-asserted-by":"publisher","first-page":"245","DOI":"10.3166\/ejc.12.245-260","volume":"12","author":"C. Edwards","year":"2006","unstructured":"Edwards, C. and Tan, C., A comparison of sliding mode and unknown input observers for fault reconstruction, Eur. J. Control, 2006, vol. 12, pp. 245\u2013260.","journal-title":"Eur. J. Control"},{"key":"3558_CR38","doi-asserted-by":"publisher","first-page":"1173","DOI":"10.1134\/S0005117917070013","volume":"78","author":"A. Zhirabok","year":"2017","unstructured":"Zhirabok, A., Shumsky, A., and Pavlov, S., Diagnosis of linear dynamic systems by the nonparametric method, Autom. Remote Control, 2017, vol. 78, pp. 1173\u20131188.","journal-title":"Autom. Remote Control"},{"key":"3558_CR39","doi-asserted-by":"crossref","unstructured":"Zhirabok, A.,  Shumsky, A.,  Solyanik, S., and  Suvorov, A., Fault detection in nonlinear systems via linear methods, Int. J. Appl. Math. Comput. Sci., 2017, vol. 27, pp.\u00a0261\u2013272.","DOI":"10.1515\/amcs-2017-0019"}],"container-title":["Programming and Computer Software"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1134\/S0361768820080216.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1134\/S0361768820080216","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1134\/S0361768820080216.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T02:44:31Z","timestamp":1775011471000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1134\/S0361768820080216"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,12]]},"references-count":39,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2020,12]]}},"alternative-id":["3558"],"URL":"https:\/\/doi.org\/10.1134\/s0361768820080216","relation":{},"ISSN":["0361-7688","1608-3261"],"issn-type":[{"value":"0361-7688","type":"print"},{"value":"1608-3261","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,12]]},"assertion":[{"value":"10 April 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 May 2020","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 July 2020","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 December 2020","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}