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In this paper, the control problem of a service robot under exogenous forces that might be exerted on the system is addressed, considering them as faults. Proposed approach is based on using a fault estimation scheme together with a Robust Unknown-Input Observer (RUIO) that allows to estimate the fault as well as the robot state, along with a state feedback control strategy. After the fault occurrence, from the fault estimation, a feedforward control action is added to the feedback controldoi:10.1109/systol.2019.8864771 dblp:conf/systol/MiguelPA19 fatcat:6zpl5fsap5gcdon2t4wxdslbei