Multisensor Fault Identification Scheme Based on Decentralized Sliding Mode Observers Applied to Reconfigurable Manipulators

Table 1

Sensor fault type.

Fault type	𝑓𝑠𝑖1	𝑓𝑠𝑖2
Fault-free	0	0
Position sensor fault	≠0	0
Velocity sensor fault	0	≠0
Position and velocity sensor fault	≠0	≠0