Robust Control of Robots: Fault Tolerant Approaches

✍ Scribed by Siqueira, Adriano A G;Terra, Marco H;Bergerman, Marcel

• Publisher: Springer
• Year: 2011
• Tongue: English
• Leaves: 220
• Category: Library

✦ Synopsis

Robust Control of Robotsbridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts:


robust control of regular, fully-actuated robotic manipulators;
robust post-failure control of robotic manipulators; and
robust control of cooperative robotic manipulators.
In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB(R)-based simulation program freely available from the authors.

The target audience forRobust Control of Robotsincludes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.

✦ Table of Contents

9.2…Fully-Actuated Cooperative Manipulators......Page 2
6.3.1 Configuration After Fault Occurrence......Page 5
9.5.1 Control Design via Quasi-LPV Representation......Page 7
Acknowledgments......Page 8
6.4…MJLS Robust Control Based on State Feedback......Page 12
Cover......Page 1
Preface......Page 6
6.6…Examples......Page 17
Robust Control of Robots......Page 3
Contents......Page 9
8.6.1 Design Procedures......Page 11
Acronyms......Page 13
8.6.2 FDI Results......Page 14
5.6.5 Neural Network-Based Adaptive Controller......Page 19
2.3…Linear {{\usertwo {\bcal H}}}{{\usertwo \boldinfty}} Controllers......Page 21
References......Page 24
Fully Actuated Robot Manipulators......Page 15
9.3…Underactuated Cooperative Manipulators......Page 4
8.5.3 Locked Joint Faults......Page 10
7.5.2 Motion and Squeeze Force Control......Page 22
9.7.2 Fully-Actuated Configuration......Page 18
2.4.2 Experimental Results......Page 27
References......Page 32
3.2…Quasi-LPV Representation of Robot Manipulators......Page 35
3.3.1 {{\varvec {\bcal H}}}{\varvec\boldinfty} Control......Page 36
3.4.1 State Feedback {{\varvec {\bcal H}}}{\varvec\boldinfty} Control for LPV Systems......Page 42
References......Page 49
2.4.1 Design Procedures......Page 23
References......Page 29
2.1…Introduction......Page 16
3.1…Introduction......Page 34
3.3.2 Mixed {{\varvec {\bcal H}}}{{\bf 2}} /{{{\varvec {\bcal H}}}}{{\varvec \boldinfty}} Control......Page 39
3.4…{{\bcal H}}{\boldinfty} Control via Linear Matrix Inequalities......Page 41
3.4.2 Output Feedback \varvec \bcal{H}}}{\varvec\boldinfty} LPV Control......Page 44
3.5…Examples......Page 46
3.5.1 Design Procedures......Page 47
3.5.2 Controller Design via Game Theory......Page 52
3.5.3 Controller Design via Linear Matrix Inequalities......Page 54
References......Page 57
4.1…Introduction......Page 58
4.2…Adaptive {{\bcal H}}{{\usertwo \boldinfty}} Control......Page 59
4.3…Neural Network-Based {{\bcal H}}{{\usertwo \boldinfty}} Control......Page 62
4.4…Examples......Page 64
4.4.1 Design Procedures......Page 65
4.4.2 Model-Based Controller......Page 68
4.4.3 Neural Network-Based Controller......Page 69
References......Page 72
Part II Fault Tolerant Control of Robot Manipulators......Page 73
5.1…Introduction......Page 74
5.2…Quasi-LPV Representation of Underactuated Manipulators......Page 75
5.3…{{\bcal H}}{\boldinfty} Control via Linear Matrix Inequalities......Page 77
5.4…{{\bcal H}}{\boldinfty} Control via Game Theory......Page 79
5.5…Adaptive {{\bcal H}}{\boldinfty} Control......Page 80
5.5.1 Model-Based Control......Page 81
5.5.2 Neural Network-Based Control......Page 83
5.6.2 LMI-Based Control......Page 85
5.6.3 Game Theory-Based Control......Page 87
5.6.4 Model-Based Adaptive Controller......Page 90
5.6.5 Neural Network-Based Adaptive Controller......Page 92
A.0. Appendix......Page 94
References......Page 95
6.1…Introduction......Page 97
6.2…Motivation......Page 98
6.3…Markovian Jump Linear Model......Page 99
6.3.1 Configuration After Fault Occurrence......Page 101
6.3.3 Markovian States......Page 102
6.3.4 AAA--APA Fault Sequence......Page 103
6.3.5 AAA--PAA--PAP Fault Sequence......Page 106
6.4…MJLS Robust Control Based on State Feedback......Page 108
6.4.2 {{{\bcal H}}}{\boldinfty} Control......Page 109
6.4.3 Mixed {{{\bcal H}}}{\bf 2}/{{{\bcal H}}}{\boldinfty} Control......Page 110
6.5…MJLS {{\bcal H}}{\boldinfty} Output Feedback Control......Page 111
6.6…Examples......Page 113
6.6.1 Design Procedures......Page 114
6.6.2 AAA--APA Fault Sequence: State-Feedback Control......Page 123
6.6.3 AAA--APA Fault Sequence: Output-Feedback Control......Page 128
6.6.4 AAA--PAA--PAP Fault Sequence: State-Feedback Control......Page 131
6.6.5 AAA--PAA--PAP Fault Sequence: Output-Feedback Control......Page 132
A.1. AppendixAppendix......Page 138
References......Page 145
Part III Cooperative Robot Manipulators......Page 146
7.1…Introduction......Page 147
7.2…Cooperative Manipulators......Page 148
7.3…Control of Cooperative Arms with Passive Joints......Page 150
7.3.1 Motion Control......Page 152
7.3.2 Squeeze Force Control......Page 155
7.4ƒDynamic Load-Carrying Capacity of Cooperative Manipulators with Passive Joints......Page 157
7.5.1 Design Procedures......Page 159
7.5.2 Motion and Squeeze Force Control......Page 168
7.5.3 DLCC of Two 3-Joint Manipulators with Passive Joints......Page 169
References......Page 170
8.1…Introduction......Page 171
8.2…Cooperative Manipulators......Page 172
8.3…Fault Tolerance System......Page 173
8.4.1 Incorrectly-Measured Joint Position and Joint Velocity Faults......Page 174
8.4.2 Free-Swinging and Locked Joint Faults......Page 176
8.5.1 Incorrectly-Measured Joint Velocity and Position Faults......Page 178
8.5.2 Free-Swinging Joint Faults......Page 179
8.5.3 Locked Joint Faults......Page 180
8.6.1 Design Procedures......Page 181
8.6.2 FDI Results......Page 184
References......Page 188
9.1…Introduction......Page 190
9.2…Fully-Actuated Cooperative Manipulators......Page 191
9.3…Underactuated Cooperative Manipulators......Page 193
9.4…Motion and Squeeze Force Control......Page 195
9.5.1 Control Design via Quasi-LPV Representation......Page 196
9.5.2 Control Design via Game Theory......Page 197
9.6…Neural Network-Based Adaptive Nonlinear {{\varvec {\bcal H}}}_{\varvec\boldinfty} Control......Page 198
9.7.1 Design Procedures......Page 204
9.7.2 Fully-Actuated Configuration......Page 207
9.7.3 Underactuated Configuration......Page 212
References......Page 218
Index......Page 219