Abstract
In this chapter we deal with the problem of fault tolerant control of robotic manipulators. We present a fault-modeling framework based on Markovian jump linear systems. An important feature of this approach is that it does not require that the manipulator be stopped when a fault is detected, i.e., the manipulator can continue moving until all joints have reached their respective desired positions. We deal here with free joint faults, when joint actuators lose their ability to apply torque and only the joint’s on/off brake is operative. We present experimental results based on \({{\mathcal{H}}}_2,\;{{\mathcal{H}}}_{\infty},\) and mixed \({{\mathcal{H}}}_2/{{\mathcal{H}}}_{\infty}\) control-based approaches.
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Appendix
Appendix
State space matrices A and B and Markovian control gains K for fault sequence AAA–APA (Tables 6.7, 6.8, 6.9, 6.10, 6.11 and 6.12).
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Siqueira, A.A.G., Terra, M.H., Bergerman, M. (2011). Markov Jump Linear Systems-Based Control. In: Robust Control of Robots. Springer, London. https://doi.org/10.1007/978-0-85729-898-0_6
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DOI: https://doi.org/10.1007/978-0-85729-898-0_6
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