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A fault tolerant robot manipulator using mixed H2/H Markovian control

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2 Author(s)
Farfan, D.V. ; Dept. of Electr. Eng., Sao Paulo Univ., Sao Carlos, Brazil ; Terra, M.H.

This paper develops a Markovian model for a three joints manipulator including the changes of operation points and the probability of a fault in the actuator. It was calculated a H2/H Markovian controller using such model to perform a fault tolerant control system

Published in:

Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on

Date of Conference:

2001

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