) Charybdotoxin site Position response for the case with velocity sensor fault compensation. (d
) Position response for the case with velocity sensor fault compensation. (d) Velocity fault estimation for the case with velocity sensor fault compensation.In this section, the impact of 3 components (i.e., actuator fault fa (AF), position sensor fault fp , and velocity sensor fault fv ) on the EHA method is beneath consideration to reduce the effect of noises, disturbances, and uncertain kinetic parameters. Specifically, an FTC process of compensating for AF and PVS is recommended determined by a sequential combination on the AF and PVS estimation applying the SMO and UOI models, as shown in Figure two. In Figure 6a, the position feedback signal (red line) of the method is simultaneously impacted by three fault components: actuator fault (black line), position sensor fault (green line), and velocity sensor fault (orange line). Thanks to the estimated errors shown in Figure 6b , we are able to very easily compute the estimated actuator error C2 Ceramide Technical Information distinction impacted by the position sensor and velocity fault, which can be illustrated in Figure 6b. Figure 6c.d clearly show the impact of actuator fault around the estimated sensor fault. Here, the controlled error signal is evaluated in Figure 6e, as well as the error magnitude is shown in Figure 6f. Furthermore, to evaluate the functionality of your proposed control strategy FTC under the effect of the aforesaid faults, the manage error is shown in Figure 6g when sensor fault compensation is applied, along with the error level is evaluated in Figure 6h.Electronics 2021, 10,23 ofFigure 6. Cont.Electronics 2021, 10,24 ofFigure six. Cont.Electronics 2021, ten, 2774 Electronics 2021, ten, x FOR PEER REVIEW25 of 28 27 of1,Error worth devoid of fault compensation Error value with sensor fault compensation1,Error value0,0,0 0 2 4 six 8 10 12 14Time (s)(m)(n)Figure six. Figure six. Simulation final results of EHA method beneath the influence of of the actuator fault, the position, and velocity sensor benefits of EHA program below the effect the actuator fault, the position, and velocity sensor fault. fault. (a) Position response for the devoid of compensation of ( f of f P a ,ff P , ffaults. (b) (b) Actuator fault estimation the the (a) Position response for the case case with no compensation a , ( f , v ) v ) faults. Actuator fault estimation for for case case devoid of compensation of ( f a , f P , f v ) faults. (c) Position sensor fault estimation for the case without compensation of devoid of compensation of ( f a , f , f ) faults. (c) Position sensor fault estimation for the case with no compensation of ( f a , f P , f v ) faults. (d) Velocity fault P v estimation for the case without having compensation of ( f a , f P , f v ) faults. (e) Control error for the ( f , f P , fv ) f a , f P , (d) Velocity fault estimation for the case devoid of compensation of ( f P f ) faults. (e) Control casea without having ( faults. f v ) fault compensation. (f) Manage error evaluation for the case with out ( f a ,, ff P, ,f v v )fault compensation. (g) Manage error for the case with (,f P , )f v ) fault compensation. (h) The obtained error evaluation casethe case with , f P ,, ffv )) error for the case with out ( f a , f P f v fault compensation. (f) Manage error evaluation for the for without the need of ( f a ( f P v fault compensation. (i) Position response for the case ( f a , f P , f v ) fault compensation. (j) Actuator fault estimation for the fault compensation. (g) Handle error for the case with ( f P , f v ) fault compensation. (h) The obtained error evaluation case ( f a , f P , f v ) fault compensation.