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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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2 Author(s)
Adriano Almeida GonÇalves Siqueira ; Dept. of Mech. Eng., Univ. of Sao Paulo at Sao Carlos, Sao Carlos ; Marco Henrique Terra

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.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:14 ,  Issue: 2 )