Fault-tolerant system based on output feedback H-infinity Markovian control for manipulator robots
| Authors: | Siqueira Adriano, University of São Paulo at São Carlos, Brazil
Buosi Cleber, University of São Paulo at São Carlos, Brazil
Terra Marco, University of São Paulo at São Carlos, Brazil |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Control II |
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| Keywords: | Fault-tolerant systems, H-infinity control, Markovian models, robotic manipulators, control system design. |
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Abstract
In this paper, it is presented a fault-tolerant system based on output feedback H-infinity Markovian control for manipulator robots. Firstly, it is shown that with a control strategy based on deterministic nonlinear H-infinity approach the stability is guaranteed only if the robot stops completely after the fault detection, and then restarts the movement from zero velocity in an underactuated configuration. Secondly, it is shown that with the fault-tolerant system proposed in this paper, the stability is guaranteed, after the fault be detected, even with the robot still moving. Experimental results are presented.
