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Multi-agent control of high redundancy actuation

By Jessica Davies, Roger Dixon, Roger M. Goodall and Thomas Steffen


The final publication is available at Springer via high redundancy actuator (HRA) concept is a novel approach to fault tolerant actuation that uses a high number of small actuation elements, assembled in series and parallel in order to form a single actuator which has intrinsic fault tolerance. Whilst this structure affords resilience under passive control methods alone, active control approaches are likely to provide higher levels of performance. A multiple-model control scheme for an HRA applied through the framework of multi-agent control is presented here. The application of this approach to a 10 × 10 HRA is discussed and consideration of reconfiguration delays and fault detection errors are made. The example shows that multi-agent control can provide tangible performance improvements and increase fault tolerance in comparison to a passive fault tolerant approach. Reconfiguration delays are shown to be tolerable, and a strategy for handling false fault detections is detailed

Topics: Cooperative systems, Intelligent actuators, Redundancy, Intelligent control, Fault tolerance actuators
Publisher: © Springer
Year: 2015
DOI identifier: 10.1007/s11633-014-0759-8
OAI identifier:

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