DocumentCode :
425651
Title :
A fault tolerant manipulator robot based on H2, H∞, and mixed H2/H
Author :
Siqueira, Adriano A G ; Terra, Marco H.
Author_Institution :
Sao Paulo Univ., Brazil
Volume :
1
fYear :
2004
fDate :
2-4 Sept. 2004
Firstpage :
309
Abstract :
This paper develops a Markovian model to describe the fault occurrence in a manipulator robot of three joints. Based on the model developed, a comparative study of three Markovian controllers, H2, H∞, and mixed H2/H∞, applied in an actual manipulator robot of three joints subject to one and two consecutive faults, is presented.
Keywords :
H∞ control; Markov processes; fault tolerance; manipulators; stability; Markovian model; fault occurrence; fault tolerant manipulator robot; mixed H2/H∞ Markovian controller; stability; Actuators; Control theory; Electronic mail; Fault detection; Fault tolerance; Fault tolerant systems; Manipulator dynamics; Robots; Stability; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on
Print_ISBN :
0-7803-8633-7
Type :
conf
DOI :
10.1109/CCA.2004.1387229
Filename :
1387229
Link To Document :
