{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,29]],"date-time":"2026-05-29T09:40:01Z","timestamp":1780047601164,"version":"3.53.1"},"reference-count":39,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002261","name":"Russian Foundation for Basic Research","doi-asserted-by":"publisher","award":["20-38-70161"],"award-info":[{"award-number":["20-38-70161"]}],"id":[{"id":"10.13039\/501100002261","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Scholarship of the President of the Russian Federation","award":["SP-3252.2019.5"],"award-info":[{"award-number":["SP-3252.2019.5"]}]},{"name":"Sevastopol State University","award":["42-01-09\/169\/2021-5"],"award-info":[{"award-number":["42-01-09\/169\/2021-5"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The problem of fault identification in electric servo actuators of robot manipulators described by nonstationary nonlinear dynamic models under disturbances is considered. To solve the problem, sliding mode observers are used. The suggested approach is based on the reduced order model of the original system having different sensitivity to faults and disturbances. This model is realized in canonical form that enables relaxing the limitation imposed on the original system. Theoretical results are illustrated by practical example.<\/jats:p>","DOI":"10.3390\/s22010317","type":"journal-article","created":{"date-parts":[[2022,1,9]],"date-time":"2022-01-09T23:08:26Z","timestamp":1641769706000},"page":"317","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers"],"prefix":"10.3390","volume":"22","author":[{"given":"Alexander","family":"Zuev","sequence":"first","affiliation":[{"name":"Laboratory of Intelligent Information Systems for Marine Robots, Institute of Marine Technology Problems, 690091 Vladivostok, Russia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5927-7117","authenticated-orcid":false,"given":"Alexey N.","family":"Zhirabok","sequence":"additional","affiliation":[{"name":"Laboratory of Intelligent Information Systems for Marine Robots, Institute of Marine Technology Problems, 690091 Vladivostok, Russia"},{"name":"Department of Automation and Robotics, Far Eastern Federal University, 690091 Vladivostok, Russia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Vladimir","family":"Filaretov","sequence":"additional","affiliation":[{"name":"Robotics Laboratory, Institute of Automation and Control Processes, 690041 Vladivostok, Russia"},{"name":"Department of Informatics and Control in Technical Systems, Sevastopol State University, 299053 Sevastopol, Russia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alexander","family":"Protsenko","sequence":"additional","affiliation":[{"name":"Laboratory of Intelligent Information Systems for Marine Robots, Institute of Marine Technology Problems, 690091 Vladivostok, Russia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,1,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"3979","DOI":"10.1109\/TIE.2012.2189534","article-title":"Manipulator fault diagnosis via higher order sliding-mode observers","volume":"59","author":"Capisani","year":"2012","journal-title":"IEEE Trans. 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