Title :
A fault tolerant robot manipulator using H2 and H∞ Markovian controls
Author :
Farfan, Daniel Vidal ; Terra, Marco Henrique
Author_Institution :
Electr. Eng. Dept., Univ. Fed. de Sao Carlos, Brazil
Abstract :
We developed a Markovian model of a three joints manipulator including the changes of operation points and the probability of a fault occurring in the actuator. We calculated H2 and H∞ Markovian controllers using such a model and obtained a fault tolerant system. Results comparing both controllers are presented
Keywords :
H∞ control; Markov processes; discrete time systems; fault tolerance; linear systems; manipulator dynamics; matrix algebra; probability; stochastic systems; H∞ Markovian control; H2 Markovian control; Markovian model; fault tolerant robot manipulator; three joints manipulator; Control systems; Electronic mail; Equations; Fault tolerance; Hydrogen; Linear systems; Manipulator dynamics; Nonlinear dynamical systems; Robots; Stochastic systems;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945919
