• 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
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=425651