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Fault-tolerant robot manipulators based on output-feedback controllers

✍ Scribed by A.A.G. Siqueira; M.H. Terra; C. Buosi

Publisher
Elsevier Science
Year
2007
Tongue
English
Weight
920 KB
Volume
55
Category
Article
ISSN
0921-8890

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✦ Synopsis

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 H ∞ controllers, which are the main focus of this paper. Experimental results illustrate the performance of each controller.

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