• DocumentCode
    1751449
  • Title

    A fault tolerant robot manipulator using H2 and H∞ Markovian controls

  • Author

    Farfan, Daniel Vidal ; Terra, Marco Henrique

  • Author_Institution
    Electr. Eng. Dept., Univ. Fed. de Sao Carlos, Brazil
  • Volume
    2
  • fYear
    2001
  • fDate
    2001
  • Firstpage
    1396
  • Abstract
    We developed a Markovian model of a three joints manipulator including the changes of operation points and the probability of a fault occurring in the actuator. We calculated H2 and H∞ Markovian controllers using such a model and obtained a fault tolerant system. Results comparing both controllers are presented
  • Keywords
    H∞ control; Markov processes; discrete time systems; fault tolerance; linear systems; manipulator dynamics; matrix algebra; probability; stochastic systems; H∞ Markovian control; H2 Markovian control; Markovian model; fault tolerant robot manipulator; three joints manipulator; Control systems; Electronic mail; Equations; Fault tolerance; Hydrogen; Linear systems; Manipulator dynamics; Nonlinear dynamical systems; Robots; Stochastic systems;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2001. Proceedings of the 2001
  • Conference_Location
    Arlington, VA
  • ISSN
    0743-1619
  • Print_ISBN
    0-7803-6495-3
  • Type

    conf

  • DOI
    10.1109/ACC.2001.945919
  • Filename
    945919
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1751449