Fault-tolerant System Based on Output Feedback H∞ Markovian Control for Manipulator Robots
نویسندگان
چکیده
In this paper, it is presented a fault-tolerant system based on output feedback H∞ Markovian control for manipulator robots. Firstly, it is shown that with a control strategy based on deterministic nonlinearH∞ 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. Copyright c © 2005 IFAC
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تاریخ انتشار 2005