• DocumentCode
    2061086
  • Title

    A fault tolerant robot manipulator using mixed H2/H∞ Markovian control

  • Author

    Farfan, Daniel Vidal ; Terra, Marco Henrique

  • Author_Institution
    Dept. of Electr. Eng., Sao Paulo Univ., Sao Carlos, Brazil
  • fYear
    2001
  • fDate
    2001
  • Firstpage
    88
  • Lastpage
    93
  • Abstract
    This paper develops a Markovian model for a three joints manipulator including the changes of operation points and the probability of a fault in the actuator. It was calculated a H2/H∞ Markovian controller using such model to perform a fault tolerant control system
  • Keywords
    H∞ control; Markov processes; fault tolerance; manipulators; probability; actuator fault probability; fault tolerant robot manipulator; mixed H2/H∞ Markovian control; operation point changes; three-joint manipulator; Actuators; Control systems; Electronic mail; Equations; Fault tolerance; Hydrogen; Linear systems; Manipulator dynamics; Robots; Torque control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
  • Conference_Location
    Mexico City
  • Print_ISBN
    0-7803-6733-2
  • Type

    conf

  • DOI
    10.1109/CCA.2001.973843
  • Filename
    973843
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2061086