A Fault-Tolerant Manipulator Robot Based on ${{cal H}}_2$, ${{cal H}}_{infty }$, and Mixed ${{cal H}}_2/{{cal H}}_{infty }$ Markovian Controls |
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Authors: | Siqueira AAG Terra MH |
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Affiliation: | Dept. of Mech. Eng., Univ. of Sao Paulo at Sao Carlos, Sao Carlos; |
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Abstract: | This paper develops a Markovian jump model to describe the fault occurrences in a manipulator robot of three joints. This model includes the changes of operation points and the probability that a fault occurs in an actuator. After a fault, the robot works as a manipulator with free joints. Based on the developed model, a comparative study among three Markovian controllers, H2, Hinfin, and mixed H2/Hinfin is presented, applied in an actual manipulator robot subject to one and two consecutive faults. |
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