Title :
A fault tolerant robot manipulator using mixed H2/H∞ Markovian control
Author :
Farfan, Daniel Vidal ; Terra, Marco Henrique
Author_Institution :
Dept. of Electr. Eng., Sao Paulo Univ., Sao Carlos, Brazil
Abstract :
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
Keywords :
H∞ control; Markov processes; fault tolerance; manipulators; probability; actuator fault probability; fault tolerant robot manipulator; mixed H2/H∞ Markovian control; operation point changes; three-joint manipulator; Actuators; Control systems; Electronic mail; Equations; Fault tolerance; Hydrogen; Linear systems; Manipulator dynamics; Robots; Torque control;
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
DOI :
10.1109/CCA.2001.973843
