A Fault-Tolerant Manipulator Robot Based on ${{cal H}}_2$ , ${{cal H}}_{\infty }$ , and Mixed

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, H_infin, and mixed H₂/H_infin is presented, applied in an actual manipulator robot subject to one and two consecutive faults.