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Master's Dissertation
DOI
10.11606/D.18.2017.tde-14112017-101923
Document
Author
Full name
Daniel Vidal Farfan
Institute/School/College
Knowledge Area
Date of Defense
Published
São Carlos, 2000
Supervisor
Committee
Terra, Marco Henrique (President)
Bergerman, Marcel
Marques, Ricardo Paulino
Title in Portuguese
Controladores Markovianos aplicados a um robô manipulador subatuado
Keywords in Portuguese
Controle Markoviano
Falhas em robôs manipuladores
Robôs manipuladores subatuados
Abstract in Portuguese
Este trabalho trata do controle Markoviano aplicado a um robô manipulador visando obter um sistema tolerante a falhas. Os controladores H2, H∞, e H2/H∞ Markovianos são calculados e aplicados ao robô em diversas situações de operação. Os controladores obtidos mantiveram a estabilidade do sistema tanto em situações de operação normal, quanto em situações de falhas sucessivas.
Title in English
Markovian controllers applied to an underactuated robot manipulator
Keywords in English
Faults in robotics manipulators
Markovian control
Underactuated robot manipulator
Abstract in English
This work deals with Markovian control applied to a robot manipulator, in an effort to obtain a fault tolerant system. The H2, H∞, and H2/H∞ controllers were calculated and applied to the robot in different operation situations. The obtained controllers guaranteed the stability of the system in both situations: normal operation, and successive faults operation.
 
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Publishing Date
2017-11-14
 
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