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

作者：Goncalves Siqueira Adriano Almeida; Terra Marco Henrique

来源：IEEE/ASME Transactions on Mechatronics, 2009, 14(2): 257-263.

DOI：10.1109/TMECH.2008.2009442

• Control engineering
• control systems
• Markov processes
• robots
• robustness
• stochastic systems

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.

• 出版日期2009-4