A Fault-Tolerant Manipulator Robot Based on H₂, H∞, and Mixed H₂/ H∞ Markovian Controls

This paper develops a Markovian jump model to describe the fault occurrences in a manipulator robot of three joints. This model includes the changes of operation points and the probability that a fault occurs in an actuator. After a fault, the robot works as a manipulator with free joints. Based on the developed model, a comparative study among three Markovian controllers, H2, Hinfin, and mixed H2/Hinfinis presented, applied in an actual manipulator robot subject to one and two consecutive faults.