A Fault-Tolerant Manipulator Robot Based on H-2, H-infinity, and Mixed H-2/H-infinity Markovian Controls

Goncalves Siqueira, Adriano Almeida; Terra, Marco Henrique

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(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

A Fault-Tolerant Manipulator Robot Based on H-2, H-infinity, and Mixed H-2/H-infinity Markovian Controls

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Author(s):	Goncalves Siqueira, Adriano Almeida ^[1] ; Terra, Marco Henrique ^[2] Total Authors: 2
Affiliation:	^[1] Univ Sao Paulo, Dept Mech Engn, BR-13566590 Sao Carlos, SP - Brazil ^[2] Univ Sao Paulo, Dept Elect Engn, BR-13566590 Sao Carlos, SP - Brazil Total Affiliations: 2
Document type:	Journal article
Source:	IEEE-ASME TRANSACTIONS ON MECHATRONICS; v. 14, n. 2, p. 257-263, APR 2009.
Web of Science Citations:	38
Abstract
This paper develops a Markovian jump model to describe the fault occurrence 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, H(2), H(infinity), and mixed H(2)/H(infinity) is presented, applied in an actual manipulator robot subject to one and two consecutive faults. (AU)

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