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

dc.creatorSIQUEIRA, Adriano Almeida Goncalves
dc.creatorTERRA, Marco Henrique
dc.date.accessioned2012-10-19T01:06:48Z
dc.date.accessioned2018-07-04T14:47:57Z
dc.date.available2012-10-19T01:06:48Z
dc.date.available2018-07-04T14:47:57Z
dc.date.created2012-10-19T01:06:48Z
dc.date.issued2009
dc.identifierIEEE-ASME TRANSACTIONS ON MECHATRONICS, v.14, n.2, p.257-263, 2009
dc.identifier1083-4435
dc.identifierhttp://producao.usp.br/handle/BDPI/17798
dc.identifier10.1109/TMECH.2008.2009442
dc.identifierhttp://dx.doi.org/10.1109/TMECH.2008.2009442
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/1614596
dc.description.abstractThis 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.
dc.languageeng
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
dc.relationIeee-asme Transactions on Mechatronics
dc.rightsCopyright IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
dc.rightsrestrictedAccess
dc.subjectControl engineering
dc.subjectcontrol systems
dc.subjectMarkov processes
dc.subjectrobots
dc.subjectrobustness
dc.subjectstochastic systems
dc.titleA Fault-Tolerant Manipulator Robot Based on H(2), H(infinity), and Mixed H(2)/H(infinity) Markovian Controls
dc.typeArtículos de revistas


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