Fault-tolerant robot manipulators based on output-feedback H∞ controllers

Authors:
A. A. G. Siqueira;M. H. Terra;C. Buosi
Affiliations:
University of São Paulo at São Carlos, Mechanical Engineering Department, São Carlos, SP, 13566-590, Brazil;University of São Paulo at São Carlos, Electrical Engineering Department, São Carlos, SP, 13566-590, Brazil;University of São Paulo at São Carlos, Electrical Engineering Department, São Carlos, SP, 13566-590, Brazil
Venue:
Robotics and Autonomous Systems
Year:
2007

Citing 0
Cited 3

Fault detection on robot manipulators using artificial neural networks

Robotics and Computer-Integrated Manufacturing
A hierarchical multiple-model approach for detection and isolation of robotic actuator faults

Robotics and Autonomous Systems
A new perspective on the robustness of Markov jump linear systems

Automatica (Journal of IFAC)

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper develops two fault-tolerant control strategies for robot manipulators. The first is based on linear parameter-varying systems and the second on Markovian jump linear systems. Firstly, it is shown that with the LPV approach post-fault stability is guaranteed only if the robot stops completely after a fault detection. Then, with an underactuated configuration, the manipulator can be controlled appropriately. Secondly, it is shown that with the fault-tolerant system based on Markovian jump linear systems, stability is guaranteed after a fault is detected even with the robot still moving. This approach incorporates all manipulator configurations in a unified model. Both strategies have been implemented based on output-feedback controllers, which are the main focus of this paper. Experimental results illustrate the performance of each controller.