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Specifically, the original system is preliminarily decoupled into two reduced-order subsystems using a linear nonsingular transformation. A novel finite-time observer is proposed to estimate actuator faults in finite time. Subsequently, the proposed finite-time observer is extended to nonlinear systems with unknown input disturbances to investigate the robust fault-estimation problem. The actuator fault and unknown input disturbance are estimated simultaneously using two finite-time observations. Furthermore, a fault-estimation scheme is designed based on finite-time observers. The finite-time stability of the observers is then analysed using the Moreno\u2013Lyapunov function method. The analytical proofs presented herein demonstrate that estimation errors can converge to a region of zero in finite time. Finally, the effectiveness of the developed finite-time observers and fault-estimation scheme was validated through simulations of a sample single-link flexible-joint robot.<\/jats:p>","DOI":"10.1177\/09596518231153228","type":"journal-article","created":{"date-parts":[[2023,2,21]],"date-time":"2023-02-21T06:46:59Z","timestamp":1676962019000},"page":"1492-1507","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Finite-time observer\u2013based robust fault estimation for nonlinear systems"],"prefix":"10.1177","volume":"237","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8797-2085","authenticated-orcid":false,"given":"Sheng","family":"Gao","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 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