Robust Control of Robots Fault Tolerant Approaches
Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts:robust control of regular, fully-actuated robotic manipulators;robust post-failure contro
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Adriano A. G. Siqueira Marco H. Terra Marcel Bergerman •
Robust Control of Robots Fault Tolerant Approaches
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Dr. Adriano A. G. Siqueira Engineering School of São Carlos University of São Paulo Av. Trabalhador Sãocarlense 400 São Carlos SP 13566-590 Brazil e-mail: [email protected]
Dr. Marcel Bergerman CMU Robotics Institute 5000 Forbes Avenue Pittsburgh PA 15213-3890 USA e-mail: [email protected]
Dr. Marco H. Terra Engineering School of São Carlos University of São Paulo Av. Trabalhador Sãocarlense 400 São Carlos SP 13566-590 Brazil e-mail: [email protected]
Additional material to this book can be downloaded from http://extra.springer.com
ISBN 978-0-85729-897-3 DOI 10.1007/978-0-85729-898-0
e-ISBN 978-0-85729-898-0
Springer London Dordrecht Heidelberg New York British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Ó Springer-Verlag London Limited 2011 MATLAB and Simulink are registered trademarks of The MathWorks, Inc. See www.mathworks.com/ trademarks for a list of additional trademarks. Other product or brand names may be trademarks or registered trademarks of their respective holders. Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licenses issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. The use of registered names, trademarks, etc., in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Cover design: eStudio Calamar S.L. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
To My Wife Flaviane and My Son João Vítor A. A. G. S. To My Son Diego M. H. T. To My Family M. B.
Preface
The world is teeming with machines that grow crops, process our food, drive us to work, assemble products, clean our homes, and perform thousands of other daily tasks. They are complex systems built on a myriad of electronic, mechanic, and software components, each one prone to malfunction and even fail at any given time. Robust, fault tolerant control of such machines is key to guaranteeing their performance and avoiding accidents. Robotic manipulators, in particular, are especially important when it comes to robust, fault tolerant control. Our society relies on these machines for a large variety of industrial operations; any unscheduled downtime cau
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