Linkage control system with position estimator backup

A machine, comprising:

• a power source configured to produce a power output;
• a linkage and a work implement powered by the power output;
• and
• a linkage control system to control the linkage and work implement, the system including:
• at least one actuator configured to move the linkage and work implement;
• at least one sensor configured to generate sensor data signals indicative of the status of at least one actuator;
• an operator input device configured to generate a desired velocity signal indicative of a desired velocity of the actuator;
• and
• a controller in communication with the at least one actuator, the at least one sensor, and the operator input device, the controller configured to determine a position of the linkage and the work implement, detect anomalous sensor data, and predict a position of the linkage and work implement based on the anomalous sensor data, a last known accurate position, last known accurate sensor data, and the operator input device.

A linkage control system for a machine having a linkage and a work implement, comprising:

• an operator input device configured to control the movement of the linkage;
• at least one actuator configured to respond to the operator input device to control the movement of the linkage;
• at least one sensor configured to generate a signal indicative of a sensor data on the at least one actuator;
• and a controller in communication with the at least one actuator, the at least one sensor, and the operator input device, the controller configured to calculate the position of the linkage, detect an anomalous sensor data from the at least one sensor by comparing previous sensor data with new sensor data, predict the position of the linkage and work implement based on a last known accurate position, a last known accurate sensor data, and the operator input device.

A machine, comprising:

• a power source configured to produce a power output;
• a linkage and a work implement powered by the power output;
• and
• a linkage control system to control the linkage and work implement, the system including:
• at least one actuator configured to move the linkage and work implement;
• at least one sensor configured to generate sensor data signals indicative of the status of at least one actuator;
• an operator input device configured to generate a desired velocity signal indicative of a desired velocity of the actuator;
• and
• a controller in communication with the at least one actuator, the at least one sensor, and the operator input device, the controller configured to determine a position of the linkage and the work implement, detect anomalous sensor data, and predict a current position of the linkage and work implement based on a last known accurate position, last known accurate sensor data, and the operator input device.