A Fault-Tolerant Manipulator Robot Based on ${{\cal H}}_2$, ${{\cal H}}_{\infty }$, and Mixed ${{\cal H}}_2/{{\cal H}}_{\infty }$ Markovian Controls

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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/Hinfin is presented, applied in an actual manipulator robot subject to one and two consecutive faults.