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

Autor(es)

Goncalves Siqueira, Adriano Almeida ^[1] ; Terra, Marco Henrique ^[2]

Afiliação do(s) autor(es)

^[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

• Tipo de documento: Artigo Científico
• Fonte: IEEE-ASME TRANSACTIONS ON MECHATRONICS; v. 14, n. 2, p. 257-263, APR 2009.
• Citações Web of Science: 38

Resumo

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)

• Processo FAPESP: 01/12943-0 - Controle H-infinito não linear aplicado em robôs manipuladores cooperativos subatuados
• Beneficiário: Adriano Almeida Gonçalves Siqueira
• Modalidade de apoio: Bolsas no Brasil - Doutorado Direto